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Morphological Computation
toward Intelligent Machines
Fumiya Iida
Bio-Inspired Robotics Lab,
Institute of Robotics and Intelligent Systems, ETH Zurich
Switzerland
What is Natural Intelligence?
Design Principles for “Intelligence”?
1860s
Homeostasis
Homeostasis and Feedback Control
Design Principles for “Intelligence”?
Feedback
Control
1860s 1950s
Homeostasis Sense-
Think-Act
Sense-Think-Act Control Scheme
Controller!
Central nervous systems
task-environment!
Ecological niche
Sense
Think
Act
Humanoid Robot Honda ASIMO
Design Principles for “Intelligence”?
Feedback
Control
Intelligence as
Search Algorithms
1860s 1950s 1980s
Homeostasis Sense-
Think-Act
Massive Parallel
Processes
Behavior Based Robotics
Loosely Coupled
Parallel Processes
Controller!
Central nervous systems
task-environment!
Ecological niche
iRobot Roomba Clearning Robot
Design Principles for “Intelligence”?
Feedback
Control
Intelligence as
Search Algorithms
Subsumption
Architecture
1860s 1950s 1980s 2000
Homeostasis Sense-
Think-Act
Massive Parallel
Processes
Embodied
Intelligence
George Lauder @ Harvard
Embodied Intelligence
Pfeifer, R., Lungarella, M., Iida, F. (2007) Science, 318, 1033-1164
Tech nativetalk2013iida4ss
Tech nativetalk2013iida4ss
Cells
Molecules
pure
algorithm
computer
(running
algorithm)
industrial
robot
(centralized
control
Asimo
(and
similar
robots)
morphological
computation
informational
computation
control
dominant
morphology and
materials dominant
Curved beam
hopping for
efficient
locomotion
Stumpy
(body dynamics
for behavioral
diversity)
Brainless
dynamic
dog robot
Morphology and Computation:
“Design Trading Space”
Autonomous Robotic Growth
TPAP-Based
Object-Handling Tool
Body Part DevelopmentThermo-Plastic Adhesion
Robot Manipulator
Bi-Directional Phase Transition
through Temperature Handling Additive Fabrication Bonding Assembly
Autonomous
Body Extension
Motor Action
Transported Object
Pick-and-Place Operation
Active Connection Active Separation
TPAP Connector
TPAP Supplier
Solid Liquid
Developed by L. Brodbeck and L.Wang
Developed by Luzius Brodbeck and Liyu Wang
Autonomous
Design!
Autonomous
Construction!
Autonomous
Assembly
Autonomous
Operation
Plasticity and
Adhesion!
Connection and
Disconnection!
Large Breaking
Strength!
Spoon!
10mm
Gripper! Tweezers! Fork!
Water! Box!
Pebble! Rice!
Trajectory of End-Effector
Morphological Adaptation for
Different Behavioral Functions
Bio-inspiration
Behavioral diversity
Bio-Inspired
Robots
Humanoid
Robots
Autonomous
Cars
Toys
Robot Arms
CNC Machines
Automated
Factories
Research
Platforms
Conclusions
Thank you!
For publications, video, pictures:
Fumiya Iida
Bio-Inspired Robotics Lab
Institute of Robotics and Intelligent Systems
ETH Zurich
Email: iidaf@ethz.ch
URL: http://www.birl.ethz.ch

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