Exploiting short-term memory in soft body dynamics as a computational resource
Exploiting short-term memory in soft body dynamics as a computational resource
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DOI：
10.1098/rsif.2014.0437
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发表时间：
2014-11-06
影响因子：
3.9
通讯作者：
Pfeifer, R.
中科院分区：
文献类型：
--
作者：
Nakajima, K.;Li, T.;Pfeifer, R.
软材料不仅具有高度可变形性，而且还具有丰富多样的身体动力学。软体动力学表现出多种属性，包括非线性、弹性和潜在的无限多个自由度。在这里，我们证明这种软体动力学可用于进行某些类型的计算。利用柔软的硅胶手臂产生的身体动力学，我们证明它们可以用来模拟需要记忆的功能，并将强大的闭环控制嵌入到手臂中。我们的结果表明，软体动力学具有短期记忆，可以作为计算资源。这一发现为利用被动身体动力学来控制一大类欠驱动系统铺平了道路。
Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems.