Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends control of physical adaptability. Unlike modular systems that rely on discrete component integration pre- or post-deployment, we envision the possibility that physical adaptation and development emerge from dynamic material restructuring to shape the body's intrinsic functions. Drawing inspiration from circulatory systems that redistribute mass and function in biological organisms, we utilize fluidics to restructure the material interface, a capability currently unpaired in robotics. Here, we realize this synthetic growth capability through a vascularized robotic composite designed for programmable material synthesis, demonstrated via receptogenesis - the on-demand construction of sensors from internal fluid reserves based on environmental cues. By coordinating the fluidic transport of precursors with external localized UV irradiation, we drive an $\textit{in situ}$ photopolymerization that chemically reconstructs the vasculature from the inside out. This reaction converts precursors with photolatent initiator into a solid dispersion of UV-sensitive polypyrrole, establishing a sensing modality validated by a characteristic decrease in electrical impedance. The newly synthesized sensor closed a control loop to regulate wing flapping in a moth-inspired robotic demonstrator. This physical update increased the robot's capability in real time. This work establishes a materials-based framework for constitutive evolution, enabling robots to physically grow the hardware needed to support emerging behaviors in a complex environment; for example, suggesting a pathway toward autonomous systems capable of generating specialized features, such as neurovascular systems in situated robotics.

翻译：为机器人系统配备在运行期间生成全新硬件的能力，扩展了对物理适应性的控制。与依赖部署前后离散组件集成的模块化系统不同，我们设想物理适应与发展可能源于动态的材料重构，以塑造身体的内在功能。受生物体内循环系统重新分配质量和功能的启发，我们利用流体技术来重构材料界面，这是当前机器人技术中尚未具备的能力。在此，我们通过一种为可编程材料合成而设计的血管化机器人复合材料实现了这种合成生长能力，并通过受体生成——即基于环境线索从内部流体储备中按需构建传感器——进行了演示。通过协调前驱体的流体输送与外部局部紫外辐照，我们驱动了从内到外化学重构脉管系统的原位光聚合反应。该反应将含有光潜伏引发剂的前驱体转化为对紫外线敏感的聚吡咯固体分散体，从而建立了一种通过特征性电阻抗下降验证的传感模式。新合成的传感器在受飞蛾启发的机器人演示器中闭合了一个控制回路，以调节翅膀的拍打。这种物理更新实时增加了机器人的能力。这项工作建立了一个基于材料的本构演化框架，使机器人能够物理生长出支持其在复杂环境中新兴行为所需的硬件；例如，为自主系统提供了一条生成专门特征（如情境机器人中的神经血管系统）的可能途径。