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Exploiting short-term memory in soft body dynamics as a computational resource


Nakajima, Kohei; Li, Tao; Hauser, Helmut; Pfeifer, Rolf (2014). Exploiting short-term memory in soft body dynamics as a computational resource. Journal of the Royal Society. Interface, 11(100):20140437.

Abstract

Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems.

Abstract

Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems.

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:3 September 2014
Deposited On:20 Feb 2015 09:15
Last Modified:05 Apr 2016 18:56
Publisher:The Royal Society Publishing
ISSN:1742-5689
Publisher DOI:https://doi.org/10.1098/rsif.2014.0437
Other Identification Number:merlin-id:11641

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