Locomorph’s main objective is to apply the concept of morphology and morphosis to achieve efficient and robust robotic locomotion and movements, in particular, with increased self-stabilization, energy efficiency, maneuverability, and adaptivity to unknown environment. Toward this general goal, we will investigate the following list of sub-objectives.
Objective 1 (Morphology):
To explore various morphological factors (e.g. shape, mass distribution, compliance, limb segmentation, etc.) to generate novel and optimal robotic designs, by addressing the following sub-goals:
- To develop a wide range of modular heterogeneous components (e.g. legs and trunk/torso components with different shapes and materials, elastic elements, sensors, actuators with variable compliance, etc.) to allow fast construction of robots with varying morphology and interesting natural dynamics.
- To develop an infrastructure for sharing robotic components and enabling efficient collaboration in develop a series of robots with varying morphology at multiple laboratories.
- To co-investigate the optimal robot’s morphology for efficient and robust locomotion and control strategies which exploit the natural dynamics generated by the robot’s morphology.
- To conduct three demonstrations throughout the project to exhibit and evaluate progress. The first two demonstrations will show the results of the first two steps of the morphology exploration: 1) gait versatility, self-stability and energy efficiency, 2) maneuverability and integration of discrete movements. The third (final) demonstration will show the project’s integrated results, including robotic morphosis capabilities.
Objective 2 (Morphosis):
To extend the concept of exploiting morphology further by investigating morphing, i.e. changing morphology, by addressing the following sub-goals:
- To conduct experiments and examine 3D kinematics, dynamics, intra- and inter-limb coordination, and detailed morphometric information, in order to examine nature’s strategy for effective morphology and morphosis in lacertid lizards, primates, and humans.
- To generate biomechanical models based on the experimental results (validated using a reduced dimension robot) and use them to generate a computer simulation which can synthesize gaits, change in pedality, and alternative movement strategies.
- To extract insights from the experimental results to develop design and motor control strategies for effective robotic morphosis, i.e. robots with the capability to voluntarily morph (self-adjust their own morphology, e.g. lengthen/contract limbs, adjust compliance, actuate trunk for overall shape morphing, etc) during runtime in order to adapt to current task demands and environments.
Locomorph’s main objective is to apply the concept of morphology and morphosis to achieve efficient and robust robotic locomotion and movements, in particular, with increased self-stabilization, energy efficiency, maneuverability, and adaptivity to unknown environment. Toward this general goal, we will investigate the following list of sub-objectives.
Objective 1 (Morphology):
To explore various morphological factors (e.g. shape, mass distribution, compliance, limb segmentation, etc.) to generate novel and optimal robotic designs, by addressing the following sub-goals:
-
To develop a wide range of modular heterogeneous components (e.g. legs and trunk/torso components with different shapes and materials, elastic elements, sensors, actuators with variable compliance, etc.) to allow fast construction of robots with varying morphology and interesting natural dynamics.
-
To develop an infrastructure for sharing robotic components and enabling efficient collaboration in develop a series of robots with varying morphology at multiple laboratories.
-
To co-investigate the optimal robot’s morphology for efficient and robust locomotion and control strategies which exploit the natural dynamics generated by the robot’s morphology.
-
To conduct three demonstrations throughout the project to exhibit and evaluate progress. The first two demonstrations will show the results of the first two steps of the morphology exploration: 1) gait versatility, self-stability and energy efficiency, 2) maneuverability and integration of discrete movements. The third (final) demonstration will show the project’s integrated results, including robotic morphosis capabilities.
Objective 2 (Morphosis):
To extend the concept of exploiting morphology further by investigating morphing, i.e. changing morphology, by addressing the following sub-goals:
-
To conduct experiments and examine 3D kinematics, dynamics, intra- and inter-limb coordination, and detailed morphometric information, in order to examine nature’s strategy for effective morphology and morphosis in lacertid lizards, primates, and humans.
-
To generate biomechanical models based on the experimental results (validated using a reduced dimension robot) and use them to generate a computer simulation which can synthesize gaits, change in pedality, and alternative movement strategies.
-
To extract insights from the experimental results to develop design and motor control strategies for effective robotic morphosis, i.e. robots with the capability to voluntarily morph (self-adjust their own morphology, e.g. lengthen/contract limbs, adjust compliance, actuate trunk for overall shape morphing, etc) during runtime in order to adapt to current task demands and environments.
