We present the GRASPion, a compact, open-source bristlebot designed for the controlled study of active matter systems. Built around a low-cost Arduino-compatible board and modular 3D-printed components, the GRASPion combines ease of use, programmability, and mechanical versatility. It features dual vibrating motors for self-propulsion, integrated sensors for local interaction, and customizable firmware enabling various motion modes, from ballistic to diffusive regimes. The robot is equipped with onboard IR communication, color and proximity sensors, and a magnetometer, allowing for real-time interaction and complex collective behaviors. With a runtime exceeding 90 minutes and reproducible fabrication, the GRASPion provides a robust and scalable platform for both educational and research applications in out-of-equilibrium physics. This article details the mechanical and electronic design and software architecture of the GRASPion, and illustrates its capabilities through prototypical experiments relevant to active matter.
Cite
@article{arxiv.2509.07437,
title = {GRASPion: an Open-Source, Programmable Brainbot for Active Matter Research},
author = {F. Novkoski and M. Mélard and M. Delens and F. Wéry and M. Noirhomme and J. Pande and A. Maier and A. -S. Smith and N. Vandewalle},
journal= {arXiv preprint arXiv:2509.07437},
year = {2025}
}