基于Origami的物理储备池计算及其在机器人爬行中的应用
Physical Reservoir Computing with Origami and its Application to Robotic Crawling
摘要：
最近出现了一种称为物理储备池计算的新范例，其中利用高维和固定物理系统的非线性动力学作为计算资源来实现复杂的任务。通过基于动态桁架模型的广泛模拟，本研究表明，折纸结构可以作为一个动态水库，具有足够的计算能力来模拟高阶非线性系统，产生稳定的极限环，并根据动态输入调制输出。本研究也揭示了折纸水库的物理设计和它的计算能力之间的联系，提供了一个指导方针，以优化计算性能。综合的参数研究表明，选择最佳的反馈折痕分布和微调底层折纸折叠设计是提高计算性能的最有效方法。此外，本研究显示如何折纸的物理储备池计算功率可以适用于软机器人控制问题的蚯蚓般的蠕动爬行没有传统的控制器的案例研究。这些结果可以为具有体现机械智能的折纸机器人铺平道路。
英文摘要：
A new paradigm called physical reservoir computing has recently emerged, where the nonlinear dynamics of high-dimensional and fixed physical systems are harnessed as a computational resource to achieve complex tasks. Via extensive simulations based on a dynamic truss-frame model, this study shows that an origami structure can perform as a dynamic reservoir with sufficient computing power to emulate high-order nonlinear systems, generate stable limit cycles, and modulate outputs according to dynamic inputs. This study also uncovers the linkages between the origami reservoir's physical designs and its computing power, offering a guideline to optimize the computing performance. Comprehensive parametric studies show that selecting optimal feedback crease distribution and fine-tuning the underlying origami folding designs are the most effective approach to improve computing performance. Furthermore, this study shows how origami's physical reservoir computing power can apply to soft robotic control problems by a case study of earthworm-like peristaltic crawling without traditional controllers. These results can pave the way for origami-based robots with embodied mechanical intelligence.
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