Towards a theoretical foundation for morphological computation with compliant bodies

• Published in: Biological cybernetics Vol. 105; no. 5-6; pp. 355 - 370
• Main Authors: Hauser, Helmut, Ijspeert, Auke J., Füchslin, Rudolf M., Pfeifer, Rolf, Maass, Wolfgang
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer-Verlag 01.12.2011; Springer Nature B.V
• Subjects: Bioinformatics; Biomedical and Life Sciences; Biomedicine; Complex Systems; Computation; Computational mathematics; Computer Appl. in Life Sciences; Computer Simulation; Humans; Learning; Mathematical models; Models, Theoretical; Neural Networks (Computer); Neurobiology; Neurosciences; Nonlinear Dynamics; Nonlinearity; Original Paper; Outsourcing; Rigid-body dynamics; Robot control; Robotics; Robots; Theoretical mathematics; Vision; Morphological computation; Volterra series; Analog computation; Embodiment; Nonlinear mass-spring systems

The control of compliant robots is, due to their often nonlinear and complex dynamics, inherently difficult. The vision of morphological computation proposes to view these aspects not only as problems, but rather also as parts of the solution. Non-rigid body parts are not seen anymore as imperfect r...