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PufForm

Reconfigurable 3D Shape Formation System Integrating Small Robots and Pneumatic Actuators

Yuki Nakata

Idea・Hardware・Prototype Implementation・System Integration

Masanobu Kanazawa

Hardware Design

Ayako Takahashi

Hardware Assembly Support

Rei Sakura

Hardware Assembly Support

PufForm

Overview

This work is a dynamic physical shape display composed of 36 inflatable modules arranged in an array on a stage. Each module is individually controlled by a fan-equipped robot that moves autonomously beneath it, generating dynamic 2.5-dimensional patterns by changing shapes according to programmed patterns. Through the combination of air and swarms of small robots, the system enables large volumetric changes relative to the device size, realizing dynamic embodiment of information in physical space.

Conference / Event

xlab Showcase 2025

Year

2024

Technologies

PythonC++toioBambu X1 carbonMISUMI Aluminum FramePolyethylene SheetM5 ATOM Lite