Human Control of Simulated Modular Soft Robots May Predict the Performance of Optimized AI-Based Controllers
Giulia Marchiori Pietrosanti,
Giorgia Nadizar,
Federico Pigozzi
et al.
Abstract:Robots with a modular body permit a wide range of physical configurations, which can be obtained by arranging the composing modules differently. While this freedom makes modular robots capable of performing different tasks, finding the optimal physical configuration for a given task is not trivial. In fact, practitioners attempt to jointly optimize the body and the controller of the robot for a given task, but the result is not always satisfactory. More broadly, it is not clear what factors make a physical con… Show more
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