The trade-off between morphology and control in the co-optimized design of robots.

ABSTRACT: Conventionally, robot morphologies are developed through simulations and calculations, and different control methods are applied afterwards. Assuming that simulations and predictions are simplified representations of our reality, how sure can roboticists be that the chosen morphology is the most adequate for the possible control choices in the real-world? Here we study the influence of the design parameters in the creation of a robot with a Bayesian morphology-control (MC) co-optimization process. A robot autonomously creates child robots from a set of possible design parameters and uses Bayesian Optimization (BO) to infer the best locomotion behavior from real world experiments. Then, we systematically change from an MC co-optimization to a control-only (C) optimization, which better repr

SUBMITTER: Rosendo A 

PROVIDER: S-EPMC5638323 | biostudies-literature | 2017

REPOSITORIES: biostudies-literature