In Gordana Dodig-Crnkovic & Raffaela Giovagnoli (eds.), Representation of Reality: Humans, Other Living Organisms and Intelligent Machines. Berlin: Springer. pp. 335-345 (2017)
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Abstract |
Engineers fine-tune the design of robot bodies for control purposes, however, a methodology or set of tools is largely absent, and optimization of morphology (shape, material properties of robot bodies, etc.) is lagging behind the development of controllers. This has become even more prominent with the advent of compliant, deformable or ”soft” bodies. These carry substantial potential regarding their exploitation for control—sometimes referred to as ”morphological computation”. In this article, we briefly review different notions of computation by physical systems
and propose the dynamical systems framework as the most useful in the context of describing and eventually designing the interactions of controllers and bodies. Then, we look at the pros and cons of simple vs. complex bodies, critically reviewing the attractive notion of ”soft” bodies automatically taking over control tasks. We address another key dimension of the design space—whether model-based control should be used and to what extent it is feasible to develop faithful models for different morphologies.
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Keywords | soft robotics morphology control embodiment morphological computation dynamical systems |
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Reprint years | 2014, 2017 |
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DOI | 10.1007/978-3-319-43784-2_17 |
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References found in this work BETA
Intelligence Without Representation.Rodney A. Brooks - 1991 - Artificial Intelligence 47 (1--3):139-159.
Quining Qualia.Daniel C. Dennett - 1988 - In Anthony J. Marcel & E. Bisiach (eds.), Consciousness in Contemporary Science. Oxford University Press.
Understanding and Sharing Intentions: The Origins of Cultural Cognition.Michael Tomasello, Malinda Carpenter, Josep Call, Tanya Behne & Henrike Moll - 2005 - Behavioral and Brain Sciences 28 (5):675-691.
Self-Projection and the Brain.Randy L. Buckner & Daniel C. Carroll - 2007 - Trends in Cognitive Sciences 11 (2):49-57.
Conflict Monitoring and Cognitive Control.Matthew M. Botvinick, Todd S. Braver, Deanna M. Barch, Cameron S. Carter & Jonathan D. Cohen - 2001 - Psychological Review 108 (3):624-652.
View all 17 references / Add more references
Citations of this work BETA
What is Morphological Computation? On How the Body Contributes to Cognition and Control.Vincent C. Müller & Matej Hoffmann - 2017 - Artificial Life 23 (1):1-24.
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