基于体素的二维软体机器人优化仿真器2D-VSR-Sim的设计、验证与实例研究
Design, Validation, and Case Studies of 2D-VSR-Sim, an Optimization-friendly Simulator of 2-D Voxel-based Soft Robots
摘要：
基于体素的软体机器人（VSR）是一组软块的集合，其设计是服从优化的。我们在这里提出了一个软件，2D-VSR-Sim，为促进有关VSR的身体和大脑的优化研究。该软件用Java编写，为所有适用于优化的VSR方面提供一致的接口，并通过设计考虑传感的存在，即，利用来自环境的反馈来控制VSR的可能性。我们的实验特征，从机械的角度来看，可以用2D-VSR-Sim模拟的VSR，我们讨论了模拟的计算负担。最后，我们展示了如何2D-VSR-Sim可以用来重复实验的重要以前的研究，并在角度来看，提供实验答案的各种研究问题。
英文摘要：
Voxel-based soft robots (VSRs) are aggregations of soft blocks whose design is amenable to optimization. We here present a software, 2D-VSR-Sim, for facilitating research concerning the optimization of VSRs body and brain. The software, written in Java, provides consistent interfaces for all the VSRs aspects suitable for optimization and considers by design the presence of sensing, i.e., the possibility of exploiting the feedback from the environment for controlling the VSR. We experimentally characterize, from a mechanical point of view, the VSRs that can be simulated with 2D-VSR-Sim and we discuss the computational burden of the simulation. Finally, we show how 2D-VSR-Sim can be used to repeat the experiments of significant previous studies and, in perspective, to provide experimental answers to a variety of research questions.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
