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Amorphous Computers and Metamorphic Robots for use in Shape Goo

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.

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Amorphous Computers and Metamorphic Robots for use in Shape Goo

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  1. Amorphous ComputersandMetamorphic Robotsfor use inShape Goo Dane Kennedy Supervisor: Shaun Bangay

  2. Overview of Talk • Aim of project • Introduce the major players • Talk about pros and cons of different approaches • Talk about Goo implementations • Progress

  3. 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

  4. The two possible implementations • Amorphous Computers • Metamorphic Robots

  5. Amorphous Computers • Computing Elements: • Processors • Sensors • Actuators • Limitations • Limited Communications Radius • Advantages • There are lots of them!

  6. Metamorphic Robots • Definition • Independent, homogenous robotic modules • Limitations • All modules are the same • Advantages • All modules are the same!

  7. Advantages Strength in numbers Disadvantages No a priori information Limited communications abilities Limited Memory Movement is a problem Amorphous Computers

  8. Advantages Well defined movement characteristics Disadvantages Limited movement Limited memory Metamorphic Robots

  9. 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 The Goo environment

  10. Problems/Solutions with Goo • Describing shape • Complete Description • Skeleton • Movement of modules within the goo • Moving in and out of spaces. • Orientation

  11. Progress • Created Amorphous Computing environment • Verified various experiments done in other people’s research • Semi-Developed algorithm for metamorphic robot scenario.

  12. Some Results

  13. Some Results

  14. Some Results

  15. Some Results

  16. Some Results

  17. Some Results

  18. Some Results

  19. Some Results

  20. Some Results

  21. Some Results

  22. Fish Tank Scenario AInitial State

  23. Fish Tank Scenario AFinal State • Back

  24. Fish Tank Scenario BInitial State

  25. Fish Tank Scenario BTransitional State

  26. Fish Tank Scenario BFinal State • Back

  27. Amorphous SubstrateInitial State

  28. Amorphous SubstrateTransitional State

  29. Amorphous SubstrateFinal State • Back

  30. Metamorphic SubstrateInitial State • Back

  31. Metamorphic SubstrateFinal State • Back

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