juan pablo carbajal quantifying m.c. - heronrobots · juan pablo carbajal chain robot & s.a....
TRANSCRIPT
04.2009 Morphological Computation 1
Juan Pablo Carbajal
Quantifying M.C.Contents
– Introduction
– WandaX: Environmental Energy Harvesting
– Puppy: Agent-Environment Interaction, Efficiency
– Chain Robot: Passive Folding and AI
– Self-Assembly: Passive Assembly and AI
Underlying Concepts
– Reproducibility
– Parametric Robots
– Minimal Approach: “Simple not simpler”
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Juan Pablo Carbajal
The A.I. Lab: Some Philosophy
The synthetic approach
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Juan Pablo Carbajal
The A.I. Lab: Some PhilosophyDesign Principles
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Juan Pablo Carbajal
Background
1999 - 2004
2004 - 2006
2008 - 2009
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Active Projects
– WandaX: Environmental Energy Harvesting.
– Puppy: Agent-Environment Interaction, Efficiency.
– Chain Robot: Passive Folding and AI.
– Self-Assembly: Passive Assembly and AI.
4 projects will be presented here. Each project has its own objective but all of them share a common principle:
What can morphology do for us?
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WandaX: Energy Harvesting“ ... live trout can Kármán gait temporarily without any axial muscle
activity. Consequently, dead trout towed behind a cylinder can generate thrust passively
and move upstream on a slack line when the natural resonance of their body allows for synchronization with vortices.”
A review of fish swimming mechanics and behavior in altered flows
Phil. Trans. R. Soc. B (2007) 362, 1973-1993. doi: 10.1098/rstb.2007.2082
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WandaX: Energy HarvestingIn collaboration with Marc Ziegler (the robot builder) and Tobi Delbrück.
Video !
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WandaX: Energy Harvesting
D. N. BEAL, F. S. HOVER, M. S. TRIANTAFYLLOU, J. C. LIAO and G. V. LAUDER (2006). Passive propulsion in vortex wakes. Journal of Fluid Mechanics, 549 , pp 385-402doi:10.1017/S0022112005007925
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Puppy: Gait EfficiencyIn collaboration with Matěj Hoffmann (the great Logician) and Harold
Martinez Salazar.
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Puppy: Gait Efficiency● Gait as an emergent behavior from interacting local controllers.
The body of the robot and the environment act as the medium where information is transferred (with processing).
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Puppy: Gait Efficiency
Video !
Video !
● The legs of the robot are considered transducers and we focus on their design. Get the maximum out of morphology.
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Puppy: Gait EfficiencyIterated Map
● ~ 20% compression.
● 80 kg
● ~3 Hz
● Fixed landing angle
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Puppy & WandaX
● Morphology as a tool to reduce computation and power consumption.
● Parametric robots used as experimental platforms. Reproducibility allows repeated experiments.
● Strong support from simulations.
● Once a configuration produces satisfactory results a final version of the robot is built.
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Juan Pablo Carbajal
Chain Robot: Passive FoldingIn collaboration with Shuhei Miyashita, Ezequiel Pozzo and Tomás
Guozden.
● Computational simulations to study the basin of attraction of each configuration.
● Quantify the effect of morphological (shape and magnet position) parameters on the basin of attraction measure, and in the creation and destruction of configurations.
● Hundreds of possible configurations each one with a potential functionality.
● Passive folding induced by magnets.
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Chain Robot: Passive Folding
● Possible folded states depend strongly on shape.
● How can we quantify this effect? Idea: Yield ratio.
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Chain Robot: Passive Folding
● Actuation as perturbation allowing prohibited transitions.
● Exploration? Learning? Sensory-motor coordination?
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Chain Robot: Passive Folding● How do we implement function/behavior?
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Juan Pablo Carbajal
S.A.: Passive AssemblyIn collaboration with Shuhei Miyashita (Samurai Bushidooo!) and
Marco Kessler.
Video !
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S.A.: Passive Assembly
Noise level
Yie
ld r
atio
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Chain Robot & S.A.
● Macroscopic systems can be studied with the same tools used with microscopic ones.
● Morphology plays a fundamental role in the behavior of the system.
● Exploiting morphology and the natural dynamics of the system can produce extreme interesting behavior with very simple “brains”.
● Important engineering challenges like the development of novel actuators.