Title :

A concise guide to modelling the physics of embodied intelligence in soft robotics

Author(s) :

Mengaldo, Gianmarco [Auteur]
National University of Singapore [NUS]
Renda, Federico [Auteur]
Brunton, Steven [Auteur]
University of Washington [Seattle]
Bächer, Moritz [Auteur]
Disney Research Zürich [DRZ]
Calisti, Marcello [Auteur]
University of Lincoln [UK]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Chirikjian, Gregory [Auteur]
National University of Singapore [NUS]
Laschi, Cecilia [Auteur]
National University of Singapore [NUS]

Journal title :

Nature Reviews Physics

Pages :

595-610

Publisher :

Nature

Publication date :

2022-09

English keyword(s) :

Soft robotics Embodied intelligence Mathematical modeling Computational modeling Computational physics
Soft robotics
Embodied intelligence
Mathematical modeling
Computational modeling
Computational physics

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]
Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

Embodied intelligence, or intelligence that requires and leverages a physical body, is ubiquitous in biological systems, both in animals and plants. Through embodied intelligence, biological systems efficiently interact ...
Show more >Embodied intelligence, or intelligence that requires and leverages a physical body, is ubiquitous in biological systems, both in animals and plants. Through embodied intelligence, biological systems efficiently interact with and use their surrounding environment to let adaptive behaviour emerge. In soft robotics, this is a well-known paradigm, whose mathematical description and consequent computational modelling remain elusive. We argue that filling this gap will enable full uptake of embodied intelligence in soft robots. The resulting models can be used for design and control purposes. In this paper, we provide a concise guide to the main mathematical modelling approaches, and consequent computational modeling strategies, that can be used to describe soft robots and their physical interactions with the surrounding environment, including fluid and solid media. The goal of this perspective is to convey the challenges and opportunities within the context of modeling the physical interactions underpinning embodied intelligence. We emphasize that interdisciplinary work is required, especially in the context of fully coupled robot-environment interaction modeling. Promoting this dialogue across disciplines is a necessary step to further advance the field of soft robotics.Show less >

Language :

Anglais

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL