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24 April 2024 |
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Article overview
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A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems | | Jeffrey Aguilar
; Tingnan Zhang
; Feifei Qian
; Mark Kingsbury
; Benjamin McInroe
; Nicole Mazouchova
; Chen Li
; Ryan Maladen
; Chaohui Gong
; Matt Travers
; Ross L. Hatton
; Howie Choset
; Paul B. Umbanhowar
; Daniel I. Goldman
; | | Date: |
12 Feb 2016 | | Abstract: | In this review we argue for the creation of a physics of moving systems -- a
locomotion "robophysics" -- which we define as the pursuit of the discovery of
principles of self generated motion. Robophysics can provide an important
intellectual complement to the discipline of robotics, largely the domain of
researchers from engineering and computer science. The essential idea is that
we must complement study of complex robots in complex situations with
systematic study of simplified robophysical devices in controlled laboratory
settings and simplified theoretical models. We must thus use the methods of
physics to examine successful and failed locomotion in simplified (abstracted)
devices using parameter space exploration, systematic control, and techniques
from dynamical systems. Using examples from our and other’s research, we will
discuss how such robophysical studies have begun to aid engineers in the
creation of devices that begin to achieve life-like locomotor abilities on and
within complex environments, have inspired interesting physics questions in low
dimensional dynamical systems, geometric mechanics and soft matter physics, and
have been useful to develop models for biological locomotion in complex
terrain. The rapidly decreasing cost of constructing sophisticated robot models
with easy access to significant computational power bodes well for scientists
and engineers to engage in a discipline which can readily integrate experiment,
theory and computation. | | Source: | arXiv, 1602.4712 | | Services: | Forum | Review | PDF | Favorites | |
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