Journal
JOURNAL OF THE ROYAL SOCIETY INTERFACE
Volume 11, Issue 100, Pages -Publisher
ROYAL SOC
DOI: 10.1098/rsif.2014.0437
Keywords
soft robots; physical reservoir computing; morphological computation; octopus
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Funding
- European Commission in the ICT-FET OCTOPUS Integrating Project (EU) [FP7-231608]
- JSPS
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Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems.
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