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Full-Text Articles in Robotics
Exploring The Behavior Repertoire Of A Wireless Vibrationally Actuated Tensegrity Robot, Zongliang Ji
Exploring The Behavior Repertoire Of A Wireless Vibrationally Actuated Tensegrity Robot, Zongliang Ji
Honors Theses
Soft robotics is an emerging field of research due to its potential to explore and operate in unstructured, rugged, and dynamic environments. However, the properties that make soft robots compelling also make them difficult to robustly control. Here at Union, we developed the world’s first wireless soft tensegrity robot. The goal of my thesis is to explore effective and efficient methods to explore the diverse behavior our tensegrity robot. We will achieve that by applying state-of-art machine learning technique and a novelty search algorithm.
Evolving Soft Robots With Vibration Based Movement, Andrew Danise
Evolving Soft Robots With Vibration Based Movement, Andrew Danise
Honors Theses
Creating effective designs for soft robots is extremely difficult due to the large number of different possibilities for shape, material properties, and movement mechanisms. Due to the lack of methods to design soft robots, previous research has used evolutionary algorithms to tackle this problem of overwhelming options. A popular technique is to use generative encodings to create designs using evolutionary algorithms because of their modularity and ability to induce large scale coordinated change. The main drawback of generative encodings is that it is difficult to know where along the ontogenic trajectory resides the phenotype with the highest fitness. The two …