From the spherical cow to the spherical robot: robophysics for better robots

Mobile robots move by exerting forces on the world, their motion is described by nonlinear dynamics, and in swarms they display phenomena akin to complex physics systems. Physics has a lot to give to the field robotics. In this talk I will provide examples of how robophysics investigations have enabled our lab to develop and improve the design and control of mobile robots. I will argue that the “physicists approach” of constructing and analyzing overly simplified models has given us design insight into solving complicated robotics challenges. I will specifically describe our efforts to build robots that burrow into sand, flying robots that actuate as dynamical systems, and groups of robots that synchronize for optimal performance.