Detailed Description
Title
Evolving Soft Robots with Vibration Based Movement
Department(s)
Computer Science
Creator(s)
Advisor(s)
Date of Original
6/1/2014
Description
Creating e?ective designs for soft robots is extremely di?cult due to the large number of di?erent possibilities for shape, material properties, and movement mechanisms. Due to the lack of methods to design soft robots, previous research has used evolutionary algorithms to tackle this problem of overwhelming options. A popular technique is to use generative encodings to create designs using evolutionary algorithms because of their modularity and ability to induce large scale coordinated change. The main drawback of generative encodings is that it is di?cult to know where along the ontogenic trajectory resides the phenotype with the highest ?tness. The two main approaches for addressing this issue are static and scaled developmental timings. In order to compare the e?ectiveness of each of these two approaches, I have implemented a framework capable of evolving soft robot designs that utilize vibration as a movement mechanism.
Genre
thesis
Publisher of Digital Record
Union College Schaffer Library Digital Projects
Source
Union College Schaffer Library Special Collections
Contact Information
Union College Schaffer Library Special Collections, 807 Union St., Schenectady, NY 12308; 518-388-6620; https://www.union.edu/schaffer-library
Harmful Language Statement
Language
English