Molding a Shape-Memory Polymer with Programmable Matter

  • Florian PescherEmail author
  • Benoît Piranda
  • Stephane Delalande
  • Julien Bourgeois
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)


The design phase of a car development is a long and tedious process requiring a lot of trials and errors. In this paper, we introduce a new concept aiming at making this process easier and more interactive. Our solution mixes self-reconfigurable autonomous robots forming programmable matter and a shape-memory polymer surface that produces an interactive model of the desired object. We propose a global algorithm to manage the interactions with the users and the self-reconfiguration of programmable matter to mold the polymer surface. We detail the technical aspects used to define the new shape of the programmable matter to better approach a goal surface described by a Non-Uniform Rational Basis Splines (NURBS) using a dichotomy algorithm.



This work was partially supported by the ANR (ANR-16-CE33-0022-02), the French Investissements d’Avenir program, ISITE-BFC project (ANR-15-IDEX-03), Labex ACTION program (ANR-11-LABX-01-01) and the Mobilitech project.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Florian Pescher
    • 1
    Email author
  • Benoît Piranda
    • 1
  • Stephane Delalande
    • 2
  • Julien Bourgeois
    • 1
  1. 1.FEMTO-ST InstituteUniv. Bourgogne Franche-Comté, CNRSMontbéliardFrance
  2. 2.PSA Groupe, Scientific DirectionVélizy-VillacoublayFrance

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