Toward a "well-balanced" design how should control and body dynamics be coupled?

Recently, it has been widely recognized that the emergence of intelligence is strongly influenced by not only control systems but also their embodiments. For this purpose, a decentralised control of multi-legged robot was employed as a case study. In addition to this simulations, a real physical robot is currently being constructed for experimental verification. Despite its importance, still very few studies have explicitly investigated this tight interdependency. In light of these facts, this study is intended to analytically and synthetically discuss "relationship as it should be" between these dynamics.

[1]  R. Wootton,et al.  Design, function and evolution in the wings of holometabolous insects , 2002 .

[2]  R Wootton,et al.  Aerodynamics: How flies fly , 1999, Nature.

[3]  Rolf Pfeifer,et al.  Understanding intelligence , 2020, Inequality by Design.

[4]  Karl Sims,et al.  Evolving virtual creatures , 1994, SIGGRAPH.

[5]  P. Eggenberger,et al.  Evolving the morphology of a compound eye on a robot , 1999, 1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355).

[6]  N. Franceschini,et al.  From insect vision to robot vision , 1992 .

[7]  Dave Sims,et al.  Decriminalizing the fingerprint , 1994, IEEE Computer Graphics and Applications.

[8]  Karl Sims,et al.  Evolving 3D Morphology and Behavior by Competition , 1994, Artificial Life.

[9]  Chandana Paul,et al.  The road less travelled: morphology in the optimization of biped robot locomotion , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[10]  Erik Duval,et al.  Managing networked multimedia data , 1994, COMG.

[11]  Karl Sims,et al.  Evolving 3d morphology and behavior by competition , 1994 .

[12]  R. Salomon,et al.  The evolution of an artificial compound eye by using adaptive hardware , 2000, Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512).

[13]  John Hallam,et al.  A hybrid GP/GA approach for co-evolving controllers and robot bodies to achieve fitness-specified tasks , 1996, Proceedings of IEEE International Conference on Evolutionary Computation.