Regenerating Soft Robots through Neural Cellular Automata

by   Kazuya Horibe, et al.

Morphological regeneration is an important feature that highlights the environmental adaptive capacity of biological systems. Lack of this regenerative capacity significantly limits the resilience of machines and the environments they can operate in. To aid in addressing this gap, we develop an approach for simulated soft robots to regrow parts of their morphology when being damaged. Although numerical simulations using soft robots have played an important role in their design, evolving soft robots with regenerative capabilities have so far received comparable little attention. Here we propose a model for soft robots that regenerate through a neural cellular automata. Importantly, this approach only relies on local cell information to regrow damaged components, opening interesting possibilities for physical regenerable soft robots in the future. Our approach allows simulated soft robots that are damaged to partially regenerate their original morphology through local cell interactions alone and regain some of their ability to locomote. These results take a step towards equipping artificial systems with regenerative capacities and could potentially allow for more robust operations in a variety of situations and environments. The code for the experiments in this paper is available at: <>.



page 5

page 6

page 8

page 9


Severe Damage Recovery in Evolving Soft Robots through Differentiable Programming

Biological systems are very robust to morphological damage, but artifici...

A Review of Soft Robots

Traditional robots have rigid links and structures that limit their abil...

Collective control of modular soft robots via embodied Spiking Neural Cellular Automata

Voxel-based Soft Robots (VSRs) are a form of modular soft robots, compos...

Control of Pneumatic Artificial Muscles with SNN-based Cerebellar-like Model

Soft robotics technologies have gained growing interest in recent years,...

Scalable sim-to-real transfer of soft robot designs

The manual design of soft robots and their controllers is notoriously ch...

A review paper of bio-inspired environmental adaptive and precisely maneuverable soft robots

This paper summarizes the most recent research in soft robotic field fro...

Getting a Grip: in Materio Evolution of Membrane Morphology for Soft Robotic Jamming Grippers

The application of granular jamming in soft robotics is a recent and pro...

Code Repositories

This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.