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Morphological Computation toward Intelligent Machines
Fumiya Iida Bio-Inspired Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich Switzerland
What is Natural Intelligence?
• Adapt to changes? • Learning new things? • Abstraction and generalization? • Solving math? • Understanding speeches? • Decision making? • Creative and innovative? • Playing chess? • Playing piano? • Making medical treatments? • …
Design Principles for “Intelligence”?
Homeostasis
1860s
Homeostasis
Homeostasis and Feedback Control�
Pfeifer, R., Lungarella, M., Iida, F. (2007) Science, 318, 1033-1164
Design Principles for “Intelligence”?
Homeostasis
Feedback Control
1860s 1950s
Homeostasis Sense-Think-Act
Sense-Think-Act Control Scheme�
Pfeifer, R., Lungarella, M., Iida, F. (2007) Science, 318, 1033-1164
Controller!Central nervous systems
task-environment!Ecological niche
Sense�
Think�
Act�
Humanoid Robot Honda ASIMO
Design Principles for “Intelligence”?
Homeostasis
Feedback Control
Intelligence as Search Algorithms
1860s 1950s 1980s
Homeostasis Sense-Think-Act
Massive Parallel Processes
Behavior Based Robotics�
Pfeifer, R., Lungarella, M., Iida, F. (2007) Science, 318, 1033-1164
Loosely Coupled Parallel Processes�
Controller!Central nervous systems
task-environment!Ecological niche
iRobot Roomba Clearning Robot�
Design Principles for “Intelligence”?
Homeostasis
Feedback Control
Intelligence as Search Algorithms
Subsumption Architecture
1860s 1950s 1980s 2000
Homeostasis Sense-Think-Act
Massive Parallel Processes
Embodied Intelligence
George Lauder @ Harvard
Embodied Intelligence�
Pfeifer, R., Lungarella, M., Iida, F. (2007) Science, 318, 1033-1164
Cells Molecules
pure algorithm
computer (running algorithm)
industrial robot (centralized control
Asimo (and similar robots)
morphological computation
informational computation
control dominant
morphology and materials dominant
Curved beam hopping for efficient locomotion
Stumpy (body dynamics for behavioral diversity)
Brainless dynamic dog robot
Morphology and Computation: “Design Trading Space”
Computation is everywhere and should be self-organized!
Autonomous Robotic Growth
TPAP-Based Object-Handling Tool
Body Part Development Thermo-Plastic Adhesion
Robot Manipulator
Bi-Directional Phase Transition through Temperature Handling Additive Fabrication Bonding Assembly
Autonomous Body Extension
Motor Action
Transported Object
Pick-and-Place Operation
Active Connection Active Separation
TPAP Connector
TPAP Supplier
Solid Liquid
Developed by L. Brodbeck and L. Wang
Developed by Luzius Brodbeck and Liyu Wang
Autonomous Design!
Autonomous Construction!
Autonomous Assembly
Autonomous Operation
Plasticity and Adhesion!
Connection and Disconnection!
Large Breaking Strength!
Spoon!
A!
10mm
Gripper! Tweezers! Fork!
Water! Box!
Pebble! Rice!
Trajectory of End-Effector
Morphological Adaptation for Different Behavioral Functions
Bio-inspiration
Behavioral diversity
Bio-Inspired Robots
Humanoid Robots
Autonomous Cars
Toys
Robot Arms CNC Machines
Automated Factories
Research Platforms
Conclusions
Thank you!
For publications, video, pictures: Fumiya Iida Bio-Inspired Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Email: [email protected] URL: http://www.birl.ethz.ch
