A Spatial Grammar Method for the Computational Design Synthesis of Virtual Soft Locomotion Robots
A Spatial Grammar Method for the Computational Design Synthesis of Virtual Soft Locomotion Robots
复制标题
虚拟软运动机器人计算设计综合的空间语法方法
DOI：
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发表时间：
2019
影响因子：
3.3
通讯作者：
K. Shea
中科院分区：
文献类型：
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作者：
M. Diepen;K. Shea
软运动机器人本质上是柔顺的，并且具有大量的自由度。它们缺乏为它们提供更高灵活性的刚性组件，并且它们没有需要防止液体或污垢的接头。然而，软机器人的手工设计往往是一个漫长的试错过程。这项工作提出了虚拟，软运动机器人的计算设计，采用的方法，集成了模拟反馈。计算方法包括三个阶段：（1）生成，（2）通过模拟评估，（3）优化。在这里，使用空间语法生成设计，以明确指导生成的解决方案的类型，并排除不可行的设计。软材料模拟方法的开发和集成是稳定的，足够快的高度迭代模拟退火搜索过程中使用。由此产生的虚拟设计展示了各种预期和意外的步态，从而证明了该方法的能力。最后，分析优化结果和空间语法，以理解和映射问题和搜索空间的挑战。
Soft locomotion robots are intrinsically compliant and have a large number of degrees of freedom. They lack rigid components that provide them with higher flexibility, and they have no joints that need protection from liquids or dirt. However, the hand-design of soft robots is often a lengthy trail-and-error process. This work presents the computational design of virtual, soft locomotion robots using an approach that integrates simulation feedback. The computational approach consists of three stages: (1) generation, (2) evaluation through simulation, and (3) optimization. Here, designs are generated using a spatial grammar to explicitly guide the type of solutions generated and exclude infeasible designs. The soft material simulation method developed and integrated is stable and sufficiently fast for use in a highly iterative simulated annealing search process. The resulting virtual designs exhibit a large variety of expected and unexpected gaits, thus demonstrating the method capabilities. Finally, the optimization results and the spatial grammar are analyzed to understand and map the challenges of the problem and the search space.