Amorphous Computers and Metamorphic Robots for use in
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Transcript Amorphous Computers and Metamorphic Robots for use in
Amorphous Computers
and
Metamorphic Robots
for use in
Shape Goo
Dane Kennedy
Supervisor: Shaun Bangay
Overview of Talk
Aim
of project
Introduce the major players
Talk about pros and cons of different
approaches
Talk about Goo implementations
Progress
Aim of overall Project
To
create a simulated gel like substance
that is capable of changing from one
shape to another arbitrary shape on
demand
The two possible implementations
Amorphous
Computers
Metamorphic
Robots
Amorphous Computers
Computing Elements:
Limitations
Processors
Sensors
Actuators
Limited
Communications
Radius
Advantages
There are lots of them!
Metamorphic Robots
Definition
Limitations
Independent,
homogenous robotic
modules
All modules are the
same
Advantages
All modules are the
same!
Amorphous Computers
Advantages
Disadvantages
Strength in numbers
No a priori information
Limited
communications
abilities
Limited Memory
Movement is a
problem
Metamorphic Robots
Advantages
Disadvantages
Well defined
movement
characteristics
Limited movement
Limited memory
The Goo environment
Amorphous Computers
Fish tank scenario A
Non-moving robots
Fish tank scenario B
Free moving robots
Substrate scenario
Limited moving robots
Metamorphic Robots
Substrate of robots
Limited movement robots
Problems/Solutions with Goo
Describing
Complete Description
Skeleton
Movement
shape
of modules within the goo
Moving in and out of spaces.
Orientation
Progress
Created Amorphous
Computing
environment
Verified various experiments done in other
people’s research
Semi-Developed algorithm for
metamorphic robot scenario.
Some Results
Some Results
Some Results
Some Results
Some Results
Some Results
Some Results
Some Results
Some Results
Some Results
Fish Tank Scenario A
Initial State
Fish Tank Scenario A
Final State
Back
Fish Tank Scenario B
Initial State
Fish Tank Scenario B
Transitional State
Fish Tank Scenario B
Final State
Back
Amorphous Substrate
Initial State
Amorphous Substrate
Transitional State
Amorphous Substrate
Final State
Back
Metamorphic Substrate
Initial State
Back
Metamorphic Substrate
Final State
Back