Environment-Modulated Self-Assembly by Changes in Modules' Buoyancy

While many inkjet printers employ only four types of ink (i.e. CKMY) to produce a wide range of colors, numerous technical challenges still exist for contemporary 3D printers to fabricate various materials and generate composite products such as electric devices. Conversely, there have been attempts and endeavors to make things through self-assembly of parts, analogous to the autonomous and decentralized development process of the human body from just 20 types of amino acids. In our previous work, we proposed a method for the rapid production of 3D objects using the centimeter-sized modules (re- ferred to as Roblets) capable of generating a 2D structure and subsequently self-folding themselves into a 3D configuration, akin to origami. To further leverage the capability of generating a wide variety of different types of structures by combining different modules, this research studies a method of automati- cally selecting and supplying modules using environmental cues. More precisely, we developed a mechanism to couple different modules corresponding to three different environments (on a flat surface, on low-dense saline, and on saturated saline) and yielded different module configurations. The process of self- assembly necessitated the application of perturbation, which was realized by imparting magnetic torque originating from an external magnetic field onto the magnets embedded in the modules.