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Morphological Evolution of Physical Robots through Model-Free Phenotype Development
Diversification of morphology and behavior of physical robots for the improvement of functionality with limited resources is shown, in which a mother robot autonomously designs and assembles locomotion agents.
Enhanced robotic body extension with modular units
- Luzius Brodbeck, F. Iida
- Materials ScienceIEEE/RSJ International Conference on Intelligent…
- 24 December 2012
This paper seeks to show physical extension of a robotic system in the order of magnitude of the robot, with actuation of integrated body parts, while maintaining the ability of RBE to construct parts with high resolution.
Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots
An evolutionary-developmental (evo-devo) experiment with real-world robots that allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world.
Automatic real-world assembly of machine-designed structures
- Luzius Brodbeck, F. Iida
- Computer Science, Materials ScienceIEEE International Conference on Robotics and…
- 29 September 2014
This work shows automatic design of structures reaching out of the robot's range and fulfilling stability and strength constraints using an evolutionary design algorithm and expects that automatic design and construction can further improve the physical adaptability of robotic systems.
Mechanics and energetics in tool manufacture and use: a synthetic approach
- Liyu Wang, Luzius Brodbeck, F. Iida
- Materials ScienceJournal of The Royal Society Interface
- 6 November 2014
A way to formulate the energetic cost of tool manufacture that includes modes of addition and reshaping, and use it to analyse the case of scoop tools is proposed, which shows that with a single motor trajectory, the robot was able to effectively pick and place water, rice grains, a pebble and a plastic box with a scoop tool or gripper tools that were manufactured by itself.
Active Sensing System with In Situ Adjustable Sensor Morphology
- S. Nurzaman, Utku Culha, Luzius Brodbeck, Liyu Wang, F. Iida
- Materials SciencePloS one
- 26 December 2013
A robotics active sensing system which is able to adjust its sensor morphology in situ in order to sense different physical quantities with desirable sensing characteristics and is confirmed to be able to autonomously accomplish tasks of discriminating two visually indistinguishable objects with respect to softness and temperature.
Robotic body extension based on Hot Melt Adhesives
- Luzius Brodbeck, Liyu Wang, F. Iida
- EngineeringIEEE International Conference on Robotics and…
- 14 May 2012
This paper investigates a novel approach to robotic body extension by employing an unconventional material called Hot Melt Adhesives (HMAs), which can be used for additive fabrication based on a simple robotic manipulator while the established structures can be integrated into the robot's own body to accomplish a task which could not have been achieved otherwise.
An extendible reconfigurable robot based on hot melt adhesives
This paper presents an approach using hot melt adhesives (HMAs) to assemble and integrate extensions into the robotic body, and finds that the extension limit depends on the mechanical properties of the extension, and the reconfiguration algorithm.
Robotic Invention: Challenges and Perspectives for Model-Free Design Optimization of Dynamic Locomotion Robots
This work presents the morphological adaptation of physical robotic agents to a locomotion task and highlights the influence of the fabrication constraints on shape diversity, which impose limitations especially for larger structures.
Flexible Self-reconfigurable Robots Based on Thermoplastic Adhesives
This paper introduces robotic self-reconfiguration by using three TPA handling processes, i.e. structure formation, connection and disconnection, and discusses challenges and perspectives of this approach.