用机械设计实现无需计算的智能机器人，可自动避障迷宫
Reprogrammable sequencing for physically intelligent under-actuated robots
- 利用多稳态结构按预设顺序控制多个自由度运动
- 仅靠一个线性执行器和机械交互即可完成迷宫导航
- 适合低功耗、无芯片的自适应机器人设计
将物理智能编程到机械结构中，有望使机器在仅使用极少计算资源和电子元件的情况下完成导航等任务。本研究提出一种新型物理智能欠驱动机构设计方法，可通过环境交互产生的机械刺激被动重编程运动序列。该方法利用多稳态特性，按预定顺序调控不同自由度的运动。为验证方法有效性，构建了一个四自由度机器人，可自主完成迷境导航并避开障碍物。令人惊讶的是，该机器人不依赖传统计算架构，仅使用一个线性执行器即可实现复杂行为。
原文摘要 · Abstract (English)
Programming physical intelligence into mechanisms holds great promise for machines that can accomplish tasks such as navigation of unstructured environments while utilizing a minimal amount of computational resources and electronic components. In this study, we introduce a novel design approach for physically intelligent under-actuated mechanisms capable of autonomously adjusting their motion in response to environmental interactions. Specifically, multistability is harnessed to sequence the motion of different degrees of freedom in a programmed order. A key aspect of this approach is that these sequences can be passively reprogrammed through mechanical stimuli that arise from interactions with the environment. To showcase our approach, we construct a four degree of freedom robot capable of autonomously navigating mazes and moving away from obstacles. Remarkably, this robot operates without relying on traditional computational architectures and utilizes only a single linear actuator.
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