Towards continuously reconfigurable self-designing robotics
Towards continuously reconfigurable self-designing robotics
复制标题
迈向持续可重构的自我设计机器人
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
J. Pollack
中科院分区：
文献类型：
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作者：
Hod Lipson;J. Pollack
我们提出了一种连续可重构机器人的新工艺。给定一项任务，机器人会进化出合适的形态和控制方式，然后打印组装好的3D结构，下载到其中并执行任务，然后循环成另一种形式用于下一项任务。这种方法放弃了坚持分立或固定组件以及手动设计配置的需要。虽然完全实现所提出的概念的技术并不完全可用，但我们已经展示了第一个案例：给定运动任务，具有不同力学和控制的各种机器人会自动进化。设计空间仅由线性执行器和s形控制神经元组成，具体体现在任意热塑性体中。然后，机器人使用快速成型技术打印预组装件，并在现实中执行任务。然后这些机器人会被回收利用。本文描述了一种实现，并提供了由所提出的过程生成的成功物理机器人的示例。
We propose a new process for continuously reconfigurable robotics. Given a task, a robot evolves a suitable morphology and control, then prints the assembled 3D structure, downloads into it and performs the task, and then recycles into a different form for the next task. This approach relinquishes the need to adhere to discrete or fixed components as well as manually designed configurations. Although the technology for fully realizing the proposed concept is not entirely available, we have demonstrated a first case: Given the task of locomotion, various robots with different mechanics and control are evolved automatically. The design space is comprised of only linear actuators and sigmoidal control neurons embodied in an arbitrary thermoplastic body. The robots then print pre-assembled using rapid prototyping technology, and perform the task in reality. The robots are then recycled. This paper described one implementation and provides examples of successful physical robots generated by the proposed process.