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基于压力的软剂

Federico Pigozzi1

  • 1University of Trieste Department of Engineering and Architecture. pigozzife@gmail.com.

Artificial life
|November 21, 2023
PubMed
概括
此摘要是机器生成的。

研究人员为人工生命和软机器人开发了基于压力的软剂 (PSA). 这些代理有效地执行运动和操纵任务,特别是那些需要改变形状的任务.

关键词:
嵌入式认知 嵌入式认知进化机器人 进化的机器人改变形状改变形状改变形状软机器人软机器人 软机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工生命 (ALife) 的人工生命
  • 生物模拟技术的使用

背景情况:

  • 生物代理人拥有软体,激发了人工生命 (ALife) 和软体机器人的研究.
  • 由于无限度的自由度,软体在模拟,控制和优化方面存在重大挑战.

研究的目的:

  • 为软体剂引入一种新的形式主义,称为基于压力的软剂 (PSA).
  • 证明PSA在各种任务中的有效性,包括机动,逃生和对象操纵.

主要方法:

  • PSAs被建模为含有压力介质的弹质膜.
  • 使用弹和质量模拟软度,允许各种形状配置.
  • 代理在局部 (弹休息长度) 和全球 (压力调制) 起作用.

主要成果:

  • 优化的PSA控制器在机动,子逃生和对象操纵任务上进行了测试.
  • 在所有测试任务中,PSA 证明了其有效性.
  • 在需要大幅改变形状的任务中,表现尤其显著.

结论:

  • 基于压力的软剂 (PSA) 为模拟和控制软体系统提供了一种可行的方法.
  • PSAs在软机器人技术和生物细胞建模领域的应用方面表现有前途.