Fig. 6: Reprogrammable logic cube with half-subtractor and half-adder functions as the decision-making module for robotic embodied intelligent environment-interactive path-planning applications.

a Path-planning logic design for right-angled and curved boundary paths achieved through the reconfiguration of half-subtractor and half-adder logic operations. b Physical images of the upper and lower casings of the second-order reprogrammable logic cube used for path planning, and the arrangement of Buffer/NOT origami switching elements within the casings. c Physical image, decomposition 3D schematics, wiring diagrams, and experimental output results for 4 possible inputs of a second-order reprogrammable logic cube as a half-subtractor logic function. d Physical image, decomposition 3D schematics, wiring diagrams, and experimental output results of a second-order reprogrammable logic cube as a half-adder logic function. e Physical image of the embodied intelligent environment-interactive robot and component description. f Overlaid sequential images visualize the trajectories of the robot when navigating paths with right-angled and curved boundaries. The time intervals between adjacent points on the trajectory are equal.