A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm.
A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm.
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DOI：
10.3389/fncom.2013.00091
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发表时间：
2013
影响因子：
3.2
通讯作者：
Pfeifer R
中科院分区：
文献类型：
--
作者：
Nakajima K;Hauser H;Kang R;Guglielmino E;Caldwell DG;Pfeifer R
动物或具身主体的行为以大脑、身体和环境之间的动态耦合为特征。这意味着，通常认为由大脑或控制器处理的控制可以部分外包给身体和与环境的互动。这个想法已经在一些最近建造的机器人，特别是从“软机器人”领域得到了证明。软机器人是由软材料制成的，具有高维性、非线性和弹性，这往往使机器人难以控制。像章鱼这样的生物系统通过利用它们的身体动力学，以高度复杂的方式掌握它们复杂的身体。我们将证明，章鱼手臂的结构不仅可以用于产生行为，而且在某种意义上，作为一种计算资源。通过使用一个软机械臂的灵感来自章鱼，我们在一些实验中显示如何控制部分纳入物理手臂的动态，以及如何利用手臂的动态近似非线性动力系统和嵌入非线性极限环。未来的应用场景，以及章鱼生物学的结果的影响进行了讨论。
The behaviors of the animals or embodied agents are characterized by the dynamic coupling between the brain, the body, and the environment. This implies that control, which is conventionally thought to be handled by the brain or a controller, can partially be outsourced to the physical body and the interaction with the environment. This idea has been demonstrated in a number of recently constructed robots, in particular from the field of “soft robotics”. Soft robots are made of a soft material introducing high-dimensionality, non-linearity, and elasticity, which often makes the robots difficult to control. Biological systems such as the octopus are mastering their complex bodies in highly sophisticated manners by capitalizing on their body dynamics. We will demonstrate that the structure of the octopus arm cannot only be exploited for generating behavior but also, in a sense, as a computational resource. By using a soft robotic arm inspired by the octopus we show in a number of experiments how control is partially incorporated into the physical arm's dynamics and how the arm's dynamics can be exploited to approximate non-linear dynamical systems and embed non-linear limit cycles. Future application scenarios as well as the implications of the results for the octopus biology are also discussed.
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影响因子：
3.4
作者：
Laschi, C.;Mazzolai, B.;Dario, P.
通讯作者：
Dario, P.
DOI：
10.1111/j.1096-3642.1985.tb01178.x
发表时间：
1985-01-01
影响因子：
2.8
作者：
KIER, WM;SMITH, KK
通讯作者：
SMITH, KK
影响因子：
1.9
作者：
Hauser, Helmut;Ijspeert, Auke J.;Maass, Wolfgang
通讯作者：
Maass, Wolfgang
影响因子：
1.9
作者：
Hauser, Helmut;Ijspeert, Auke J.;Maass, Wolfgang
通讯作者：
Maass, Wolfgang
影响因子：
2.6
作者：
Fuechslin, Rudolf M.;Dzyakanchuk, Andrej;Walker, Richard
通讯作者：
Walker, Richard