Simple or Complex Bodies? Trade-offs in Exploiting Body Morphology for Control

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00315691" target="_blank" >RIV/68407700:21230/17:00315691 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-43784-2_17" target="_blank" >http://dx.doi.org/10.1007/978-3-319-43784-2_17</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-43784-2_17" target="_blank" >10.1007/978-3-319-43784-2_17</a>

Result language
angličtina
Original language name
Simple or Complex Bodies? Trade-offs in Exploiting Body Morphology for Control
Original language description
Engineers fine-tune the design of robot bodies for control purposes; however, a methodology or set of tools is largely absent, and optimization of morphology (shape, material properties of robot bodies, etc.) is lagging behind the development of controllers. This has become even more prominent with the advent of compliant, deformable or `soft’ bodies. These carry substantial potential regarding their exploitation for control—sometimes referred to as `morphological computation’. In this article, we briefly review different notions of computation by physical systems and propose the dynamical systems framework as the most useful in the context of describing and eventually designing the interactions of controllers and bodies. Then, we look at the pros and cons of simple versus complex bodies, critically reviewing the attractive notion of `soft’ bodies automatically taking over control tasks. We address another key dimension of the design space—whether model-based control should be used and to what extent it is feasible to develop faithful models for different morphologies.
Czech name
—
Czech description
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Project
<a href="/en/project/GJ17-15697Y" target="_blank" >GJ17-15697Y: Robot self-calibration and safe physical human-robot interaction inspired by body representations in primate brains</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Representation and Reality in Humans, Other Living Organisms and Intelligent Machines
ISBN
978-3-319-43782-8
ISSN
2192-6255
e-ISSN
—
Number of pages
11
Pages from-to
335-345
Publisher name
Springer, Cham
Place of publication
—
Event location
London
Event date
Apr 1, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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