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