Towards continuously reconfigurable self-designing robotics

摘要

We propose a new process for continuously reconfigurable robotics. Given a task, a robot evolves a suitable morphology and control, then prints the assembled 3D structure, downloads into it and performs the task, and then recycles into a different form for the next task. This approach relinquishes the need to adhere to discrete or fixed components as well as manually designed configurations. Although the technology for fully realizing the proposed concept is not entirely available, we have demonstrated a first case: Given the task of locomotion, various robots with different mechanics and control are evolved automatically. The design space is comprised of only linear actuators and sigmoidal control neurons embodied in an arbitrary thermoplastic body. The robots then print pre-assembled using rapid prototyping technology, and perform the task in reality. The robots are then recycled. This paper described one implementation and provides examples of successful physical robots generated by the proposed process.