Skip to content

Shaping Behavior With Adaptive Morphology

Research output: Contribution to journalArticle

Original languageEnglish
Pages (from-to)2056-2062
Number of pages7
JournalIEEE Robotics and Automation Letters
Volume3
Issue number3
Early online date19 Feb 2018
DOIs
DateAccepted/In press - 27 Jan 2018
DateE-pub ahead of print - 19 Feb 2018
DatePublished (current) - Jul 2018

Abstract

Robots which exploit their embodiment promise to be more robust, energy-efficient and adaptable. However, the majority of systems designed in this way are only capable of exploiting their embodiment when performing a single task in a single environment. For such robots to be capable of adapting to a range of tasks or environments, they must be capable of adjusting their morphology on-line and have an understanding of how adjustments in both control and morphology affect their behaviour. We introduce the concept of the control-morphology (CM) space and the Variable Stiffness Swimmer (VSS), a multi-segment pendular robot with adaptive joint stiffness. This system allows us to perform an initial investigation into how navigating the CM space affects the behaviour of a robot. We show that the behaviour of the system is not only the result of selecting a particular location within the control-morphology space, but also the route taken to arrive at that point. We also demonstrate locations within the space where a shift in behaviour can be caused entirely by smooth on-line changes in morphology.

    Research areas

  • Biologically-Inspired Robots, Underactuated Robots, Biomimetics

Download statistics

No data available

Documents

Documents

  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at https://ieeexplore.ieee.org/document/8294256/. Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 4 MB, PDF-document

DOI

View research connections

Related faculties, schools or groups