一种行走与攀爬的蜈蚣状虚拟生物中的行为多样性
Behaviour diversity in a walking and climbing centipede-like virtual creature
AI总结：
本文提出一种融合波动、蠕动和腿部运动的去中心化控制器，在多种模拟蜈蚣机器人上验证，发现其能根据环境和形态变化涌现出六种运动模式，且不同身体部位可同时采用不同模式，为机器人形态设计与运动原理研究提供工具。
摘要：
机器人控制器通常针对单一环境中的单一机器人进行优化。这种方法被证明是脆弱的，因为这样的控制器在新的形态或环境中往往无法产生合理的行为。相比之下，动物的步态具有鲁棒性和多用途性。通过观察动物，并尝试从它们的运动中提取运动的一般原理，我们旨在设计一个适用于多种形态和环境的单一去中心化控制器。该控制器实现了三个组成部分：1）波动，2）蠕动，以及3）腿部运动，我们认为这些是大多数动物步态中的基本要素。该控制器在多种模拟的蜈蚣状机器人上进行了测试。选择蜈蚣作为灵感来源是因为它同时使用身体收缩和腿部运动来移动。为了使控制器在性质不同的环境中工作，它还必须能够表现出性质不同的行为。我们发现，响应环境和形态变化，我们的控制器涌现出六种不同的运动模式。我们还发现，蜈蚣模型的不同部位可以根据局部形态特征同时表现出不同的运动模式。该控制器可以通过快速测试某种形态的潜力来辅助机器人的设计或进化，或者用于获取关于蜈蚣潜在运动原理的见解。
英文摘要：
Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal gaits are robust and versatile. By observing animals, and attempting to extract general principles of locomotion from their movement, we aim to design a single decentralised controller applicable to diverse morphologies and environments. The controller implements the three components 1) undulation, 2) peristalsis, and 3) leg motion, which we believe are the essential elements in most animal gaits. The controller is tested on a variety of simulated centipede-like robots. The centipede is chosen as inspiration because it moves using both body contractions and legged locomotion. For a controller to work in qualitatively different settings, it must also be able to exhibit qualitatively different behaviors. We find that six different modes of locomotion emerge from our controller in response to environmental and morphological changes. We also find that different parts of the centipede model can exhibit different modes of locomotion, simultaneously, based on local morphological features. This controller can potentially aid in the design or evolution of robots, by quickly testing the potential of a morphology, or be used to get insights about underlying locomotion principles in the centipede.
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。
