让软体机器人自带物理计算能力，无需芯片也能自主决策。
Embodying Physical Computing into Soft Robots
- 用机械结构实现可编程计算，替代传统电子电路。
- 实现避障行走、负载分类等复杂行为，性能媲美芯片系统。
- 适合追求无电智能的软体机器人研究者与开发者。
将物理计算融入软体机器人是提升其鲁棒性与智能水平的关键挑战。本文提出一种将物理计算嵌入软体机器人的框架，探讨了三种现有策略：模拟振荡器、物理储备池计算和物理算法计算。这些嵌入式计算系统通过机械元件间的内部相互作用，将输入转化为输出，且支持重编程。实验证明，该方法可使软体机器人实现协同运动、障碍物回避、负载重量与方向分类，以及基于逻辑规则的可编程操作，功能相当于传统CMOS电子系统。本文详细阐述了这些方法的工作原理，综述了当前研究进展，并展望了未来发展方向。
原文摘要 · Abstract (English)
Softening and onboarding computers and controllers is one of the final frontiers in soft robotics towards their robustness and intelligence for everyday use. In this regard, embodying soft and physical computing presents exciting potential. Physical computing seeks to encode inputs into a mechanical computing kernel and leverage the internal interactions among this kernel's constituent elements to compute the output. Moreover, such input-to-output evolution can be re-programmable. This perspective paper proposes a framework for embodying physical computing into soft robots and discusses three unique strategies in the literature: analog oscillators, physical reservoir computing, and physical algorithmic computing. These embodied computers enable the soft robot to perform complex behaviors that would otherwise require CMOS-based electronics -- including coordinated locomotion with obstacle avoidance, payload weight and orientation classification, and programmable operation based on logical rules. This paper will detail the working principles of these embodied physical computing methods, survey the current state-of-the-art, and present a perspective for future development.
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