相关论文: No-brainer: Morphological Computation driven Adapt…

With the rise of modern deep learning, neural networks have become an essential part of virtually every artificial intelligence system, making it difficult even to imagine different models for intelligent behavior. In contrast, nature…

Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…

Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…

The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…

Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…

Modularity in robotics holds great potential. In principle, modular robots can be disassembled and reassembled in different robots, and possibly perform new tasks. Nevertheless, actually exploiting modularity is yet an unsolved problem:…

Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of…

Morphological regeneration is an important feature that highlights the environmental adaptive capacity of biological systems. Lack of this regenerative capacity significantly limits the resilience of machines and the environments they can…

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…

Recently, researchers have explored control methods that embrace nonlinear dynamic coupling instead of suppressing it. Such designs leverage dynamical coupling for communication between different parts of the robot. Morphological…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…

Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

In the context of embodied artificial intelligence, morphological computation refers to processes which are conducted by the body (and environment) that otherwise would have to be performed by the brain. Exploiting environmental and…

Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…

Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…

This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…

Biological systems are very robust to morphological damage, but artificial systems (robots) are currently not. In this paper we present a system based on neural cellular automata, in which locomoting robots are evolved and then given the…

Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…