Leon M. Kamp, Mohamed Zanaty, Ahmad Zareei, Benjamin Gorissen, Robert J. Wood, Katia Bertoldi
{"title":"用于物理智能欠动机器人的可重新编程排序","authors":"Leon M. Kamp, Mohamed Zanaty, Ahmad Zareei, Benjamin Gorissen, Robert J. Wood, Katia Bertoldi","doi":"arxiv-2409.03737","DOIUrl":null,"url":null,"abstract":"Programming physical intelligence into mechanisms holds great promise for\nmachines that can accomplish tasks such as navigation of unstructured\nenvironments while utilizing a minimal amount of computational resources and\nelectronic components. In this study, we introduce a novel design approach for\nphysically intelligent under-actuated mechanisms capable of autonomously\nadjusting their motion in response to environmental interactions. Specifically,\nmultistability is harnessed to sequence the motion of different degrees of\nfreedom in a programmed order. A key aspect of this approach is that these\nsequences can be passively reprogrammed through mechanical stimuli that arise\nfrom interactions with the environment. To showcase our approach, we construct\na four degree of freedom robot capable of autonomously navigating mazes and\nmoving away from obstacles. Remarkably, this robot operates without relying on\ntraditional computational architectures and utilizes only a single linear\nactuator.","PeriodicalId":501211,"journal":{"name":"arXiv - PHYS - Other Condensed Matter","volume":"9 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Reprogrammable sequencing for physically intelligent under-actuated robots\",\"authors\":\"Leon M. Kamp, Mohamed Zanaty, Ahmad Zareei, Benjamin Gorissen, Robert J. Wood, Katia Bertoldi\",\"doi\":\"arxiv-2409.03737\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Programming physical intelligence into mechanisms holds great promise for\\nmachines that can accomplish tasks such as navigation of unstructured\\nenvironments while utilizing a minimal amount of computational resources and\\nelectronic components. In this study, we introduce a novel design approach for\\nphysically intelligent under-actuated mechanisms capable of autonomously\\nadjusting their motion in response to environmental interactions. Specifically,\\nmultistability is harnessed to sequence the motion of different degrees of\\nfreedom in a programmed order. A key aspect of this approach is that these\\nsequences can be passively reprogrammed through mechanical stimuli that arise\\nfrom interactions with the environment. To showcase our approach, we construct\\na four degree of freedom robot capable of autonomously navigating mazes and\\nmoving away from obstacles. Remarkably, this robot operates without relying on\\ntraditional computational architectures and utilizes only a single linear\\nactuator.\",\"PeriodicalId\":501211,\"journal\":{\"name\":\"arXiv - PHYS - Other Condensed Matter\",\"volume\":\"9 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-09-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"arXiv - PHYS - Other Condensed Matter\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/arxiv-2409.03737\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"arXiv - PHYS - Other Condensed Matter","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/arxiv-2409.03737","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Reprogrammable sequencing for physically intelligent under-actuated robots
Programming physical intelligence into mechanisms holds great promise for
machines that can accomplish tasks such as navigation of unstructured
environments while utilizing a minimal amount of computational resources and
electronic components. In this study, we introduce a novel design approach for
physically intelligent under-actuated mechanisms capable of autonomously
adjusting their motion in response to environmental interactions. Specifically,
multistability is harnessed to sequence the motion of different degrees of
freedom in a programmed order. A key aspect of this approach is that these
sequences can be passively reprogrammed through mechanical stimuli that arise
from interactions with the environment. To showcase our approach, we construct
a four degree of freedom robot capable of autonomously navigating mazes and
moving away from obstacles. Remarkably, this robot operates without relying on
traditional computational architectures and utilizes only a single linear
actuator.