Projects per year
Abstract
Robots which exploit their embodiment promise to be more robust, energy-efficient and adaptable. However, the majority of systems designed in this way are only capable of exploiting their embodiment when performing a single task in a single environment. For such robots to be capable of adapting to a range of tasks or environments, they must be capable of adjusting their morphology on-line and have an understanding of how adjustments in both control and morphology affect their behaviour. We introduce the concept of the control-morphology (CM) space and the Variable Stiffness Swimmer (VSS), a multi-segment pendular robot with adaptive joint stiffness. This system allows us to perform an initial investigation into how navigating the CM space affects the behaviour of a robot. We show that the behaviour of the system is not only the result of selecting a particular location within the control-morphology space, but also the route taken to arrive at that point. We also demonstrate locations within the space where a shift in behaviour can be caused entirely by smooth on-line changes in morphology.
Original language | English |
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Pages (from-to) | 2056-2062 |
Number of pages | 7 |
Journal | IEEE Robotics and Automation Letters |
Volume | 3 |
Issue number | 3 |
Early online date | 19 Feb 2018 |
DOIs | |
Publication status | Published - Jul 2018 |
Research Groups and Themes
- Tactile Action Perception
Keywords
- Biologically-Inspired Robots
- Underactuated Robots
- Biomimetics
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Dive into the research topics of 'Shaping Behavior With Adaptive Morphology'. Together they form a unique fingerprint.Projects
- 2 Finished
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EPSRC Fellowship - Soft robotic technologies for next generation bio integrative medical devices
Rossiter, J. M. (Principal Investigator)
1/10/15 → 31/03/21
Project: Research
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Copy of Wearable soft robotics for independent living
Rossiter, J. M. (Principal Investigator)
1/07/15 → 31/12/18
Project: Research