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首页> 美国卫生研究院文献>Frontiers in Computational Neuroscience >A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm
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A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm

机译：以软体动物为水库：以章鱼为灵感的软体机器人手臂动力学模型的案例研究

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The behaviors of the animals or embodied agents are characterized by the dynamic coupling between the brain, the body, and the environment. This implies that control, which is conventionally thought to be handled by the brain or a controller, can partially be outsourced to the physical body and the interaction with the environment. This idea has been demonstrated in a number of recently constructed robots, in particular from the field of “soft robotics”. Soft robots are made of a soft material introducing high-dimensionality, non-linearity, and elasticity, which often makes the robots difficult to control. Biological systems such as the octopus are mastering their complex bodies in highly sophisticated manners by capitalizing on their body dynamics. We will demonstrate that the structure of the octopus arm cannot only be exploited for generating behavior but also, in a sense, as a computational resource. By using a soft robotic arm inspired by the octopus we show in a number of experiments how control is partially incorporated into the physical arm's dynamics and how the arm's dynamics can be exploited to approximate non-linear dynamical systems and embed non-linear limit cycles. Future application scenarios as well as the implications of the results for the octopus biology are also discussed.
机译：动物或特定主体的行为的特征是大脑，身体和环境之间的动态耦合。这意味着通常认为是由大脑或控制器处理的控制可以部分外包给身体以及与环境的交互。这个想法已经在许多最近构造的机器人中得到了证明，特别是在“软机器人”领域。软机器人由柔软的材料制成，具有高尺寸，非线性和弹性，这通常会使机器人难以控制。章鱼等生物系统正在利用它们的身体动力学，以高度复杂的方式掌握其复杂的身体。我们将证明章鱼臂的结构不仅可以用来产生行为，而且在某种意义上还可以作为一种计算资源。通过使用受章鱼启发的软机器人手臂，我们在许多实验中展示了如何将控制部分地结合到物理手臂的动力学中，以及如何利用手臂的动力学来近似非线性动力学系统并嵌入非线性极限环。还讨论了未来的应用场景以及结果对章鱼生物学的影响。

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