A concise guide to modelling the physics of embodied intelligence in soft robotics

作     者：Mengaldo, Gianmarco Renda, Federico Brunton, Steven L. Baecher, Moritz Calisti, Marcello Duriez, Christian Chirikjian, Gregory S. Laschi, Cecilia 

作者机构：Natl Univ Singapore Singapore Singapore Khalifa Univ Abu Dhabi U Arab Emirates Univ Washington Seattle WA 98195 USA Disney Res Zurich Switzerland Univ Lincoln Lincoln England INRIA Lille France 

出 版 物：《NATURE REVIEWS PHYSICS》 (Nat. Rev. Phyc.)

年 卷 期：2022年第4卷第9期

页      面：595-610页

核心收录：

基　　金：NUS [R-265-000-A36-133, R-265-000-A31-133, R-265000-A31-731] MOE Tier 1 grant [R-265-000-655-114] National Research Foundation, Singapore, under its Medium Sized Centre Programme -Centre for Advanced Robotics Technology Innovation (CARTIN) MOE Tier 2 grant 'REBOT' US Office of Naval Research Global [N62909-21-1-2033] Khalifa University of Science and Technology [CIRA-2020-074, RC1-2018-KUCARS] 

主　　题：Computation theory 

摘      要：Modelling soft-robot deformations induced by actuators and interactions with the surrounding environment can enable full uptake of embodied intelligence. This Technical Review provides a concise guide to modelling approaches and computational strategies that can lead to model-informed design of embodied intelligent robots. Embodied intelligence (intelligence that requires and leverages a physical body) is a well-known paradigm in soft robotics, but its mathematical description and consequent computational modelling remain elusive, with a need for models that can be used for design and control purposes. We argue that filling this gap will enable full uptake of embodied intelligence in soft robots. We provide a concise guide to the main mathematical modelling approaches, and consequent computational modelling strategies, that can be used to describe soft robots and their physical interactions with the surrounding environment, including fluid and solid media. We aim to convey the challenges and opportunities within the context of modelling the physical interactions underpinning embodied intelligence. We emphasize that interdisciplinary work is required, especially in the context of fully coupled robot-environment interaction modelling. Promoting this dialogue across disciplines is a necessary step to further advance the field of soft robotics.