Neural Simulation of Actions for Serpentine Robots DOI Open Access
Pietro Morasso

Опубликована: Июнь 24, 2024

Neural or mental simulation of actions is a powerful tool for allowing cognitive agents to develop Prospection Capabilities that are crucial learning and memorizing key aspects challenging skills. In previous studies we developed an approach based on the animation redundant human Body Schema Passive Motion Paradigm (PMP). this paper show can be easily extended hyper-redundant serpentine robots as well hybrid configurations where robot functionally integrated with traditional skeletal infrastructure. A model analyzed in detail showing it incorporates spatio-temporal features discovered biomechanical biological hydrostats like elephant trunk octopus tentacles. It proposed such generative internal basis architecture appropriate robots, independent underlying design control technologies. Although robotic have received lot attention last decades, great majority research activities been focused actuation/sensorial/material technologies support hyperredundant soft related methodologies. The level analysis has limited motion planning, without addressing synergy formation metal time travel. This contribution on.

Язык: Английский

A Computational Model of Hybrid Trunk-like Robots for Synergy Formation in Anticipation of Physical Interaction DOI Creative Commons
Pietro Morasso

Biomimetics, Год журнала: 2025, Номер 10(1), С. 21 - 21

Опубликована: Янв. 2, 2025

Trunk-like robots have attracted a lot of attention in the community researchers interested general field bio-inspired soft robotics, because trunk-like arms may offer high dexterity and adaptability very similar to elephants potentially quite superior traditional articulated manipulators. In view practical applications, integration hydrostatic segment with hard-articulated segment, i.e., hybrid kinematic structure elephant’s body, is probably best design framework. It proposed that this should occur at conceptual/cognitive level before being implemented specific technologies, including related control paradigms. The modeling approach based on passive motion paradigm (PMP), originally conceived for addressing degrees freedom problem highly redundant, structures. shown can be naturally extended from redundant hyper-redundant structures, structures include hard component. PMP model force-based, not motion-based, it characterized by two main computational modules: Jacobian matrix chain compliance maps generalized force fields into coordinated gestures whole-body model. how modulation used synergy formation process, which coordinates nature body and, same time, preparation trunk tip stable physical interaction environment, agreement impedance–control concept.

Язык: Английский

Процитировано

0
Neural Simulation of Actions for Serpentine Robots DOI Open Access
Pietro Morasso

Опубликована: Июнь 24, 2024

Neural or mental simulation of actions is a powerful tool for allowing cognitive agents to develop Prospection Capabilities that are crucial learning and memorizing key aspects challenging skills. In previous studies we developed an approach based on the animation redundant human Body Schema Passive Motion Paradigm (PMP). this paper show can be easily extended hyper-redundant serpentine robots as well hybrid configurations where robot functionally integrated with traditional skeletal infrastructure. A model analyzed in detail showing it incorporates spatio-temporal features discovered biomechanical biological hydrostats like elephant trunk octopus tentacles. It proposed such generative internal basis architecture appropriate robots, independent underlying design control technologies. Although robotic have received lot attention last decades, great majority research activities been focused actuation/sensorial/material technologies support hyperredundant soft related methodologies. The level analysis has limited motion planning, without addressing synergy formation metal time travel. This contribution on.

Язык: Английский

Процитировано

2