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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GJ17-15697Y" target="_blank" >GJ17-15697Y: Automatická kalibrace robotů a bezpečná fyzická interakce s člověkem inspirovaná reprezentacemi těla v mozku primátů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Representation and Reality in Humans, Other Living Organisms and Intelligent Machines

ISBN

978-3-319-43782-8

ISSN

2192-6255

e-ISSN

—

Počet stran výsledku

11

Strana od-do

335-345

Název nakladatele

Springer, Cham

Místo vydání

—

Místo konání akce

London

Datum konání akce

1. 4. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—