Evolving Amorphous Robots
Evolving Amorphous Robots
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不断进化的非晶机器人
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Hod Lipson
中科院分区：
文献类型：
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作者：
J. Hiller;Hod Lipson
进化机器人学的研究传统上仅限于由刚性和离散组件组成的形态，例如与旋转或线性关节和执行器连接的连杆。在这里，我们展示了由多种材料组成的连续和无定形形态的机器人的演变。驱动是通过这些材料中的一种或多种的周期性体积膨胀和收缩来实现的。讨论了表示可演化的多材料自由形状以及对所得软体进行评估（模拟）的挑战。探索了几种基因型表示，它们使用水平集阈值来生成表型中的物质分布。机器人的软体仿真是使用松弛算法对所得到的非晶机器在驱动材料膨胀、重力和非线性地面摩擦力下的动力学进行建模来完成的。这些结果为新的设计空间打开了大门，该空间更接近地模仿生物系统的自由形式、无定形和连续性质。
Research in evolutionary robotics has traditionally been limited to morphologies comprising rigid and discrete components, such as links connected with rotational or linear joints and actuators. Here, we demonstrate the evolution of robots with continuous and amorphous morphologies composed of multiple materials. Actuation is accomplished by periodic volumetric expansion and contraction of one or more of these materials. The challenges of representing evolvable multi-material freeform shapes and evaluation (simulation) of the resulting soft bodies are discussed. Several genotypic representations are explored which use a level-set threshold to generate the material distribution in the phenotype. Soft body simulation of the robot is accomplished using a relaxation algorithm to model the dynamics of the resulting amorphous machines under the actuation material expansion, gravity forces, and non-linear ground friction. These results open the door to a new design space that more closely mimics the freeform, amorphous and continuous nature of biological systems.