Icosa

We approached this project by conducting basic research into  electronics, digital simulation, kinetic joints, and machine behavior. Our belief is that the development and synthesis of these realms will allow us to develop a novel approach to building a kinetic amoeboid sphere.

Through multiple iterations and testing we developed a “soft” mechanical joint allowing the appropriate degrees of freedom while maintaining formal structure.On the software side, we developed a algorithms written in Java and C++ which allow us to individually control the positions of many actuators as well as their speed. This algorithm employs a numerical (as opposed to analytic) vector strategy to solve the inverse kinematic problems inherent to our structure. In more straight forward terms: how should one strut in the structure respond to its neighbors movement? How are these forces and geometric constraints mediated?

As we continue the next phase of our project we look forward to building a multilayered sphere. As well as refining the detailing of our hardware and electronics to achieve a more elegant structure. This will allow us to foreground the movement and novel characteristic of the sculpture.