Evolutionary Co-Design of Morphology and Control of Soft Tensegrity Modular Robots with Programmable Stiffness

01/28/2021
by   Davide Zappetti, et al.
0

Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control, assembly, and actuation of tensegrity robots are still difficult tasks. Moreover, the stiffness of tensegrity robots is still an underestimated design parameter. In this article, we propose to use easy to assemble, actuated tensegrity modules and body-brain co-evolution to design soft tensegrity modular robots. Moreover, we prove the importance of tensegrity robots stiffness showing how the evolution suggests a different morphology, control, and locomotion strategy according to the modules stiffness.

READ FULL TEXT

page 1

page 2

page 3

research
06/12/2023

Modular Controllers Facilitate the Co-Optimization of Morphology and Control in Soft Robots

Soft robotics is a rapidly growing area of robotics research that would ...
research
10/21/2021

Soft Lattice Modules that Behave Independently and Collectively

Natural systems integrate the work of many sub-units (cells) toward a la...
research
11/17/2017

Evolving soft locomotion in aquatic and terrestrial environments: effects of material properties and environmental transitions

Designing soft robots poses considerable challenges: automated design ap...
research
09/20/2023

Open-endedness induced through a predator-prey scenario using modular robots

This work investigates how a predator-prey scenario can induce the emerg...
research
05/01/2022

Topology and morphology design of spherically reconfigurable homogeneous Modular Soft Robots (MSoRos)

Imagine a swarm of terrestrial robots that can explore an environment, a...
research
04/06/2018

Interoceptive robustness through environment-mediated morphological development

Typically, AI researchers and roboticists try to realize intelligent beh...

Please sign up or login with your details

Forgot password? Click here to reset