A self-organizing swarm
robot system and control method based on cellular soft and hard mechanisms are disclosed. The
system includes several individual robots. Each
robot includes an upper shell, a middle support, a lower support
chassis, electrically driven legs, a magnetically connected
actuator, a PCB control board, and light-emitting elements. The PCB control board is equipped with an ESP-NOW
wireless communication module, a light sensor, and a multi-
pose sensor. The magnetically connected
actuator includes static and dynamic actuators alternately distributed along the circumference. This invention can simulate the
adhesion force regulation and morphological expansion and contraction mechanism between biological cells, achieving
dynamic control between swarm robots under mechanical action. It exhibits high flexibility and fast response speed, enabling multi-degree-of-freedom movement and posture adjustment in complex environments. By using ESP-NOW
wireless communication technology in conjunction with light sensors and multi-
pose sensors to construct a high-precision distributed sensing and
control system, it supports the self-organization,
collaboration, and task execution capabilities of swarm robots in weak information environments.