物理的知能を持つ劣駆動ロボットのための再プログラム可能な動作シーケンス
Reprogrammable sequencing for physically intelligent under-actuated robots
マルチスタビリティを利用して自由度の動作順序をプログラムし、環境との相互作用で受動的に再プログラムできる劣駆動ロボットを開発した。単一アクチュエータのみで迷路探索や障害物回避を自律的に行う。
著者: Leon M. Kamp, Mohamed Zanaty, Ahmad Zareei, Benjamin Gorissen, Robert J. Wood, Katia Bertoldi
分類: cs.RO, cond-mat.other
原文アブストラクト
Programming physical intelligence into mechanisms holds great promise for machines that can accomplish tasks such as navigation of unstructured environments while utilizing a minimal amount of computational resources and electronic components. In this study, we introduce a novel design approach for physically intelligent under-actuated mechanisms capable of autonomously adjusting their motion in response to environmental interactions. Specifically, multistability is harnessed to sequence the motion of different degrees of freedom in a programmed order. A key aspect of this approach is that these sequences can be passively reprogrammed through mechanical stimuli that arise from interactions with the environment. To showcase our approach, we construct a four degree of freedom robot capable of autonomously navigating mazes and moving away from obstacles. Remarkably, this robot operates without relying on traditional computational architectures and utilizes only a single linear actuator.
