Abstract: Discrete motion systems move relative to a lattice, using bistable mechanisms to snap between lattice locations. A discrete motion system includes a lattice having a regular configuration of attachment points, one or more motion modules that move across the lattice in discrete increments, and controllers that direct the modules. A module includes a body, actuators, and feet having mechanisms for attaching and detaching the module from the lattice. The module may include actuated joints that cause movement of arm structures to engage and disengage the feet from the lattice. The module may be a digital inchworm, and may be a relative assembler having at least one assembler arm. A method for discrete extensible construction includes creating a lattice having a regular configuration of attachment points, causing a discrete motion relative assembler to systematically move across the lattice in discrete increments, and causing placement of materials by the assembler arm.

Abstract: Electromagnetic digital materials are made up of a set of voxels, some of which are made from electromagnetically active materials. Each voxel is adapted to be assembled into a structure according to a regular physical geometry and an electromagnetic geometry, and a majority of the voxels in the set are reversibly connectable to other voxels. Voxels in the set may differ in material composition or property from other voxels in the set. Voxels may be arranged into multi-voxel parts that are assembled into the structure according to a regular physical geometry and the electromagnetic geometry. Electromagnetic structures may be made from the electromagnetic digital material, and may be fabricated by an automated process that includes assembling a set of voxels by reversibly connecting the voxels to each other according to a regular physical geometry and an electromagnetic geometry and assembling the reversibly connected voxels into the electromagnetic structure.