with a case study on ECCERobot. Design principles and “the four messages of embodiment” A bit of background Where are we going? — “Soft robotics”

1. Embodied intelligence:
The four messages
With a case study on
ECCERobot
Swissnex San Francisco
...
19 January 2012
Rolf Pfeifer, NCCR National Competence Center Robotics, Switzerland

2. Thanks to ...
Hajime Asama Robert Full Lukas
Rudolf Bannasch Gabriel Gomez Lichtensteiger
Josh Bongard Fumio Hara Hod Lipson
Simon Bovet Alejandro Max Lungarella
Rodney Brooks Hernandez Ren Luo
Weidong Chen Owen Holland Barbara Mazzolai
Steve Collins Koh Hosoda Shuhei Miyashita
Holk Cruse Fumiya Iida Toshi Nakagaki
Paolo Dario Auke Ijspeert Norman Packard
Raja Dravid Takashi Ikegami Mike
Rodney Douglas Masayuki Inaba Rinderknecht
Peter Akio Ishiguro Roy Ritzmann
Eggenberger Oussama Kathib Andy Ruina
Andreas Engel Alois Knoll Giulio Sandini
Martin Fischer Maarja Kruusma Olaf Sporns
Dario Floreano Yasuo Kuniyoshi Luc Steels
Toshio Fukuda Cecilia Laschi Kasper Stoy

3. for their ideas
Hajime Asama Robert Full Lukas
Rudolf Bannasch Gabriel Gomez Lichtensteiger
Josh Bongard Fumio Hara Hod Lipson
Simon Bovet Alejandro Max Lungarella
Rodney Brooks Hernandez Ren Luo
Weidong Chen Owen Holland Barbara Mazzolai
Steve Collins Koh Hosoda Shuhei Miyashita
Holk Cruse Fumiya Iida Toshi Nakagaki
Paolo Dario Auke Ijspeert Norman Packard
Raja Dravid Takashi Ikegami Mike
Rodney Douglas Masayuki Inaba Rinderknecht
Peter Akio Ishiguro Roy Ritzmann
Eggenberger Oussama Kathib Andy Ruina
Andreas Engel Alois Knoll Giulio Sandini
Martin Fischer Maarja Kruusma Olaf Sporns
Dario Floreano Yasuo Kuniyoshi Luc Steels
Toshio Fukuda Cecilia Laschi Kasper Stoy

4. for their ideas
Hajime Asama Robert Full Lukas
Rudolf Bannasch Gabriel Gomez Lichtensteiger
Josh Bongard Fumio Hara Hod Lipson
Simon Bovet Alejandro Max Lungarella
Rodney Brooks Hernandez Ren Luo
Weidong Chen Owen Holland Barbara Mazzolai
Steve Collins Koh Hosoda Shuhei Miyashita
Holk Cruse Fumiya Iida Toshi Nakagaki
Paolo Dario Auke Ijspeert Norman Packard
Raja Dravid Takashi Ikegami Mike
Rodney Douglas Masayuki Inaba Rinderknecht
Peter Akio Ishiguro Roy Ritzmann
Eggenberger Oussama Kathib Andy Ruina
Andreas Engel Alois Knoll Giulio Sandini
Martin Fischer Maarja Kruusma Olaf Sporns
Dario Floreano Yasuo Kuniyoshi Luc Steels
Toshio Fukuda Cecilia Laschi Kasper Stoy

5. Goals
buzzword “embodiment”
seeing things differently
“mind set” for design
5

6. Contents
• Design principles and “the four
messages of embodiment”
• A bit of background
• Where are we going? — “Soft
robotics”
• Take home message
6

7. Getting into the spirit of
embodiment
the role of the brain in
understanding behavior?
7

8. The spirit of
embodiment
8

9. The spirit of
embodiment
8

10. The spirit of
embodiment
8

11. The spirit of
embodiment
8

12. The spirit of
embodiment
8

13. “Crazy Bird” —
Morphology, Control
loosely hanging feet
rubber/plastic
Design and construction:
Mike Rinderknecht
9

14. “Crazy Bird” —
Morphology, Control
loosely hanging feet
rubber/plastic
Design and construction:
behavior of “Crazy Mike Rinderknecht
Bird”: emergent
10

15. Message 1: Physical
embedding
Studying brain (or control) not
sufficient: Understanding of
• embedding of brain into organism
• organism’s morphological and
material properties
• interaction with environment
required 11

16. Let me be clear
The brain is important!
12

17. Let me be clear
The brain is important!
but not the whole story ...
13

18. Contents
• Design principles and “the four
messages of embodiment”
• A bit of background
• Where are we going? — “Soft
robotics”
• Take home message
14

19. Artificial Intelligence —
goals
1.Understanding 2.Making
biological abstractions,
systems developing
theory
humans
animals
3.Applications
beer-serving robot
15
vacuum cleaner

20. The synthetic
methodology
Slogan:
“Understanding by building”
modeling behavior of interest
abstraction of principles
robots as tools for scientific
investigation 16

21. The synthetic
methodology
New scientific paradigm (general
trend)
beyond classical, analytical
sciences
novel types of experiments 17

22. Zurich AI Lab robots
Ms. Gloria
Rufus T.
Teasdale
Firefly
Didabot
Famez
Sita Morpho

23. Zurich AI Lab robots
Amouse
SahabotI/II
Melissa
Tripp
Samurai
Analogrob
Dexterolator
Stumpy
Eyebot
Mindstorms
Kheperas
Mitsubishi
Forkleg

24. Zurich
AI Lab robots
Stumpy, Monkey, Puppy, Min-dog, Wheeled
Walker, Mini-Stumpy, Wanda, Dumbo, Rabbit

25. Zurich AI Lab robots
21

26. AI Lab Robots
(exploration of
22

27. Zurich AI Lab
Robots (EU-Locomorph)
23

28. Two views of
intelligence
classical:
cognition as
computation
embodiment:
cognition as emergent from
movement, locomotion,
manipulation
Illustrations
24 by
Shun Iwasawa

29. Classical approach
view:
thinking/brain: centralized control
model: input - processing - output
how else could it be?
25

30. Successes and failures
of the classical
successes failures
applications foundations of
(e.g. Google) behavior
chess natural forms of
intelligence
consumer
electronics interaction with
real world
manufacturing
26

31. Successes and failures
of the classical
successes failures
applications foundations of
(e.g. Google) behavior
chess natural forms of
intelligence
consumer
electronics interaction with
real world
factory
27

32. Where is the problem?
• inappropriate view of intelligence as:
“input-processing-output”(computer
metaphor)
• neglect of interaction with real world
what to do?
28

33. Two views of
intelligence
classical:
cognition as
computation
embodiment:
cognition as emergent from
movement, locomotion,
manipulation
Illustrations
29 by
Shun Iwasawa

34. Relation to
thinking/intelligence?
“Why do plants not have brains?”
30

35. Relation to
thinking/intelligence?
“Why do plants not have brains? The
answer is actually quite simple: they
don’t have to move.” Lewis Wolpert, UK
—> evolutionary perspective
31

36. Back to the “four
messages of
32

37. Message 2: Real/Artificial
worlds
Understanding the differences
between artificial/constructed (e.g.
industrial) worlds and real worlds
(e.g. downtown area, school, home)
—> different requirements for
robots
33

38. industrial
robots natural
(“hard”) systems
(“soft”)
human
s
industrial
robots 34

39. industrial natural
robots systems
principles:
(“soft”)
- high predictability
- strong, fast, precise
motors
- centralized control
- optimization
industrial
robots 35

40. industrial natural
robots systems
principles:
- inprecise (“soft”)
human
- compliant s
- reactive
- coping with
uncertainty
industrial
robots 36

41. industrial natural
robots systems
principles:
- inprecise (“soft”)
human
- compliant s
- reactive
- coping with
uncertainty
no direct transfer of methods
37

42. Transfer of methods?
Sony Qrio:
high stiffness
centralized control
conputationally intensive 38

43. Transfer of methods?
Sony Qrio:
high stiffness
centralized control
conputationally intensive 38

44. Transfer of methods?
Sony Qrio:
high stiffness
centralized control
conputationally intensive 38

45. Transfer of methods?
Sony Qrio:
high stiffness
centralized control
conputationally intensive 38

46. By comparison: The
“Passive Dynamic
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
39

47. By comparison: The
“Passive Dynamic
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
39

48. By comparison: The
“Passive Dynamic
self-stabilization
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
40

49. By comparison: The
“Passive Dynamic
self-stabilization
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
40

50. Overall scheme: Self-
stabilization in the Passive
Pfeifer et al.,Science,
16 Nov. 2007
41

51. Overall scheme: Self-
stabilization in the Passive
self-stabilization
Pfeifer et al.,Science,
16 Nov. 2007
42

52. Short question
memory for walking?
43

53. Contrast: Full control —
“hard”
Honda Asimo
Sony Qrio
44

54. Extending the
ecological niche
adding a reflex
Design and construction:
Martijn Wisse, Delft University
ompare: human walking
self-stabilization 45

55. Extending the
ecological niche
adding a reflex
Design and construction:
Martijn Wisse, Delft University
ompare: human walking
self-stabilization 45

56. Implications of
embodiment
“Denise”
self-stabilization
Pfeifer et al.,Science,
16 Nov. 2007
46

57. Message 3: Task
distribution
Task distribution between brain
(control), body (morphology,
materials), and environment
Principle of
ecological
balanceof
Principle
cheap design 47

58. Message 3: Task
distribution
Task distribution between brain
(control), body (morphology,
materials), and environment
morphological
computation 48

59. Message 3: Task
distribution
Task distribution between brain
(control), body (morphology,
materials), and environment
no clear separation between
control and hardware (“soft
robotics”)
rethink classical
control 49

60. The “robot frog” driven
by pneumatic actuators
Design and construction:
Ryuma Niiyama and
Yasuo Kuniyoshi
University of Tokyo
50

61. The “robot frog” driven
by pneumatic actuators
Design and construction:
Ryuma Niiyama and
Yasuo Kuniyoshi
University of Tokyo
50

62. “Stumpy”: task
distribution
almost brainless: 2 actuated joints
springy materials
surface properties of feet
Design and construction: Raja
Dravid, Chandana Paul,
Fumiya Iida
self-stabilization 51

63. The dancing robot
“Stumpy”
Collaboration with Louis-Philippe Demers,
Nanyang Technological University, Singapore
Movie:
Dynamic
Devices and
52
AILab,
Zurich

64. The dancing robot
“Stumpy”
Collaboration with Louis-Philippe Demers,
Nanyang Technological University, Singapore
Movie:
Dynamic
Devices and
52
AILab,
Zurich

65. Outsourcing
functionality
Mini-rHex
Design and construction:
Robin Guldener, Lijin Aryananda
soft, flexible,
elastic materials
53

66. Outsourcing
functionality
Mini-rHex
Design and construction:
Robin Guldener, Lijin Aryananda
soft, flexible,
elastic materials
53

67. Specifically:
Orchestration of
• stably grasping hard object
• other manipulation tasks
• morphological
computation:
exploiting morphology/
materials for control
Design and construction: Koh
Hosoda 54

68. Exploiting morphology:
managing complex
pictures and ideas:
courtesy Roy Ritzmann
Case Western Reserve
University
55

69. Exploiting morphology:
managing complex
pictures and ideas:
courtesy Roy Ritzmann
Case Western Reserve
University
55

70. “Outsourcing”
functionality:
• brain: 1 Million neurons
(rough estimate)
• descending neurons: 200 (!)
• brain:
- cooperation with local circuits
- morphological changes (shoulder
joint)
Watson, Ritzmann, Zill & Pollack, 2002,
J Comp Physiol A
56

71. Effects of morphology
change
descending brain
neurons: 200 (!) 1 Million neurons
57

72. Climbing over obstacles
• CPG on flat ground
• get hight estimate from antenna
• change configuration of shoulder joint
—> morphological computation
• CPG continue to function as before
(don’t “know” about climbing)
• brain-body cooperation
58

73. Towards “cognitive”
robots
59

74. Adding sensors: generation of
sensory stimulation through
action
• knowledge about environment:
pressure, haptic, acceleration,
vision, ...
• knowledge about own body:
angle, torque, force, vestibular, …
the super-compliant
“soft” robot ECCE

75. Message 4: Physical
dynamics and
Induction of patterns of sensory
stimulation through physical interaction
with environment
raw material for information processing
of brain (control)
induction of correlations (information
structure) through sensory-motor 61

76. Message 4: Physical
dynamics and
Induction of patterns of sensory
stimulation through physical interaction
with environment
raw material for information processing
of brain (control)
induction of correlations (information
Principle of information
structure) through sensory-motor 62
self-structuring

77. Essence
• self-structuring of sensory data through
— physical — interaction with world
• physical process — not computational
pre-requisite for learning
Inspiration:
John Dewey, 1896 (!)
Merleau-Ponty, 1963 63
Bajcsy, 1963; Aloimonos, 1990; Ballard, 1991
Sporns, Edelman, and co-workers

78. Sensory-motor
coordination
“We begin not with a sensory stimulus, but with a
(“active perception”)
sensory-motor coordination […] In a certain sense it is
the movement which is primary, and the sensation
which is secondary, the movement of the body, head,
and eye muscles determining the quality of what is
experienced. In other words, the real beginning is with
the act ofthe stimulations which thenot a sensation of
“Since all seeing; it is looking, and organism receives
light.” (“Thebeen possiblepsychology,” John Dewey,
have in turn reflex arc in only by its preceding
1896)
movements which have culminated in exposing the
receptor organ to external influences, one could also
say that behavior is the first cause of all the
stimulations.” (“The structure of Behavior,” Maurice 64
Merleau-Ponty, 1963)

79. Contents
• “The four messages of
embodiment”
• A bit of background
• Where are we going? — “Soft
robotics”
• Take home message
65

80. “Soft robotics”
Hypothesis: The next generation of
robots will be of the “soft” kind.
Advances in “soft technology” will
lead to a quantum leap in intelligent
robotics.
Theoretical underpinnings: The key to
“soft robotics” will be an
understanding of embodiment.
66

81. Application areas
• safe interaction with humans
• next level factory automation
• manipulation for assembly and surgery
• therapy and human assistance
• mobility over different terrain
• companion robot
• entertainment
67
• many others

82. “Soft Robotics”
Soft to touchSoft movement oft interaction Emotions
S
68

83. “Soft Robotics”
Soft to touch Soft movement
Soft interaction Emotions
- materials - elastic - soft movements friendly
-
- soft skin compliant - social and interaction
- deformable materials for cognitive skills with human
tissue muscles and - reactive - facial
- fur tendons - soft materials expression
- variable compl. - body
actuators posture
- expl. passive
dynamics 69

84. “Soft Robotics”
Soft to touch Soft movement
Soft interaction Emotions
- materials - elastic - soft movements friendly
-
- soft skin compliant - social and interaction
- deformable materials for cognitive skills with human
tissue muscles and - reactive - facial
- fur tendons - soft materials expression
- variable compl. - body
actuators posture
- expl. passive
dynamics 70

85. The super-compliant “soft”
robot ECCE
Design and construction:
Rob Knight — robotstudio,
Geneva
Richard Newcombe — Imperial
College
ECCE — Embodied Cognition
in a Compliantly Engineered
Robot
Anthropomor 71
phic
design

86. The super-compliant
“soft” robot ECCE
ECCE — Embodied Cognition in a
Compliantly Engineered Robot
72

87. Techfest 2011, IIT
Bombay
Embodied Intelligence
Switzerland
73

88. i-Days, Lucern
Switzerland
74

89. Hannover Fair, ICT
Brussels, Science Fair St.
75

90. ECCE at Chinese
Academy of Science,
76

91. ECCE in Singapore, 2011
UBS and Nanyang
77

92. ECCE with former president
of Switzerland: Innovation Fair
Design and construction:
der “bionische Roboter” Rob Knight — robotstudio,
Geneva
Richard Newcombe — Imperial
College
Owen Holland — Essex/Sussex
University
ECCE — Embodied Cognition
in a Compliantly Engineered
Robot
Anthropomor 78
phic
design

93. The super-compliant “soft”
robot ECCE
Anthropomo
rphic design
79

94. The super-compliant “soft”
robot ECCE
Anthropomo
rphic design
79

95. “Soft robotics”: sample
applications Receptionist at World Expo - Design and
construction:
Osaka University, and
Kokoro Dreams
Robot Teacher Saya - Design and
construction:
Hiroshi Kobayashi, Univ. of Science,
Tokyo 80

96. “Soft robotics”: sample
applications Receptionist at World Expo - Design and
construction:
Osaka University, and
Kokoro Dreams
Robot Teacher Saya - Design and
construction:
Hiroshi Kobayashi, Univ. of Science,
Tokyo 80

97. Support Suits
Exoskeletons
paralyzed individual to
climb
Breithorn (Switzerland) 81
HAL, the “Hybrid
Exoskeleton Assistive Limb ®”
Cyberdyne Inc.

98. The “power: of
materials:
design and construction:
Marc Ziegler, AI Lab, UZH
materials!
82

99. The “power: of
materials:
design and construction:
Marc Ziegler, AI Lab, UZH
materials!
82

100. Exploiting materials:
Octopus (EU Project)
Octopus Arm
Design and construction:
Matteo Cianchetti (SSSA)
Cecilia Laschi (SSSA)
Tao Li (UZH)

101. Octopus
arm movements
Octopus Arm
Design and
construction:
Matteo Cianchetti
(SSSA)
Cecilia Laschi (SSSA)
control:
Kohei Nakajima (AI
84

102. Octopus
arm movements
Octopus Arm
Design and
construction:
Matteo Cianchetti
(SSSA)
Cecilia Laschi (SSSA)
control:
Kohei Nakajima (AI
84

103. Grasping a bottle
Octopus Arm
Design and
construction:
Matteo Cianchetti
(SSSA)
Cecilia Laschi (SSSA)
control:
Kohei Nakajima (AI
85

104. Grasping a bottle
Octopus Arm
Design and
construction:
Matteo Cianchetti
(SSSA)
Cecilia Laschi (SSSA)
control:
Kohei Nakajima (AI
85

105. Pulling a string
Octopus Arm
Design and
construction:
Matteo Cianchetti
(SSSA)
Cecilia Laschi (SSSA)
control:
Kohei Nakajima (AI
86

106. Pulling a string
Octopus Arm
Design and
construction:
Matteo Cianchetti
(SSSA)
Cecilia Laschi (SSSA)
control:
Kohei Nakajima (AI
86

107. 87

108. The Jaeger/Lipson
“coffee
88

109. The Jaeger/Lipson
“coffee
89

110. The Jaeger/Lipson
“coffee
89

111. Implications for
automation?
90

112. Food handling
• considerable variation
—> unpredictability
• extremely delicate
• materials crucial
91

113. Recall: industrial robots
(“hard”) vs. natural systems
Prinzipien:
- high predictability
- strong, precise, fast
motors
- centralized control
- optimization
industrial —> reduced
robots predictability 92

114. New manipulation skills
93

115. Outsourcing?
Insourcing?
Chinese textile
workers
discover their
power
94

116. The next “industrial
revolution”
beyond traditional manufacturing:
new manipulation skills
new manufacturing
hard robotics softbots technology
new industrial
revolution
OCTOPUS
arm prototype
Rodney Brooks
U-Tokyo 95
robot “frog”
Festo Bionic ECCE
Handling assistant the super-compliant robot

117. Contents
• “The four messages of
embodiment”
• A bit of background
• Where are we going? — “Soft
robotics”
• Take home message
96

118. Summary and
conclusions
Key to “soft robotics”:
understanding of “embodiment”
—> the “four messages”
97

119. “Soft robotics”
Hypothesis: The next generation of
robots will be of the “soft” kind.
Advances in “soft technology” will
lead to a quantum leap in intelligent
robotics.
Theoretical underpinnings: The key to
“soft robotics” will be an
understanding of embodiment.
98

120. “Soft robotics”
• central role of materials!
• new notion of control
(morphological computation;
“orchestration”)
• no clear separation between
controller and to-be-controlled
99

121. “Soft robotics”
• central role of materials!
• new notion of control
(morphological computation;
“orchestration”)
• no clear separation between
better robots
controller and to-be-controlled
better life
100

122. “Soft robotics”
Hypothesis: The next generation of
robots will be of the “soft” kind.
Advances in “soft technology” will
lead to a quantum leap in intelligent
robotics.
Theoretical underpinnings: The key to
“soft robotics” will be an
understanding of embodiment.
101

123. Summary: The four
messages of
Message 1: Physical embedding
Understanding brain not enough;
morphology materials; embedding
Message 2: Real/Artificial worlds
Fundamental differences industrial and real-
world environments
Message 3: Task distribution
Cooperation - brain, body, environment
102
Message 4: Physical dynamics and information
structure Induction of information structure;

124. Like to know more?
103

125. Visit us
in Zurich
104

126. 105

127. Locomor
Research program ph
Morpho-function Octopus
artificial dynamic movement
Scalable morphogenesis Locognit
NCCR Robotics iCub
evolution and locomotion
biorobotics
self- ion
assemby Started: Dec. ECCERobot
theory of
self- intelligence
learning, development
organization,
neural modeling
PACE robotics Amarsi
2010
self-assembly
grand goal
grand goal
humanoid robots
modular
g
vision
Robodoc
assistive roboticsp
l in
REAL
educational
(Switzerland) interfacingP prosthetics ou
neural
and
. C L tic
technology
“life as it
could be”
y n A e
EU-Cog II “life as it
D th
The could be”
s d
ro an
P h
ShanghAI applications to design
Lectures Industrial
business design art, entertainment in Lab
Artists
design 106 Interactive installations

128. NCCR: 12 year
perspective
EPFL
University of Zurich
ETH Zurich
107

129. follow the “Robot
Companion for Citizens”
initiative
(“sentient machines”)
FET - Future and Emerging
Technologies
“Flagships”: € 100 Mio per year for 10108

130. 109

131. or join
The ShanghAI Lectures
109

132. or join
The ShanghAI Lectures
• global lecture series on natural and
artificial intelligence
• video conference with 20 universities
• 3D virtual collaborative environments for
classwork with over 40 universities
• intercultural cooperation on
interdisciplinary topic
The ShanghAI Lectures, Sept to Dec 2011 109
(from the University of Zurich, Manchester

133. Started at Shanghai Jiao
Tong University,
with the generous support of
110

134. Participating sites 2009–2010
HamburgTallinn
Michigan Edinburgh
Warsaw Moscow
Vermont Sheffield Salford Berlin
Karlsruhe Munich
Burlington Essex Zurich
San Francisco St. Gallen
New York Madrid Sachseln Beijing Tohoku
Irvine Seoul Tokyo
Tehran Xian
Stanford Herzliya Osaka Chiba
Algiers
San Diego Shanghai Nagoya
Jeddah Ain
Al Taipei
Singapore
Sao Paulo
Launceston
Hobart
5

135. 112

136. or read THE
113

137. or read THE
what book?!??
114

138. Popular science
Rolf Pfeifer and Josh Bongard
How the body shapes the way we
think — a new view of intelligence
(popular science)
MIT Press, 2007
Illustrations by Shun Iwasawa
115

139. Chinese translation
Translated by
Weidong Chen
Shanghai Jiao Tong University
and
Wenwei Yu
Chiba University, Japan
Foreword by
Lin Chen
116

140. How How
the body the body
shapes shapes
translated by
the way the way
Koh Hosoda, Osaka University
and
we thinkIshiguro, Tohoku University
Akio : we think :
a new view to appeara new view of
of soon
intelligence intelligence 117

141. Short e-book
version
Designing
Intelligence
Why Brains
Aren’t Enough
Rolf Pfeifer
Josh Bongard
Don Berry
118

142. The Zurich AI Lab
119

143. Funding
• University of Zurich, Switzerland
• Swiss FNS:
- From locomotion to cognition
- Dynamical coupling in motor-sensory function substitution
- From morphology to functionality
- Swiss National Competence Center, for Research (NCCR) Robotics
• EU-FET:
- Locomorph
- Octopus
- Extended Sensory-Motor Contingencies
- iCub (finished)
• EU-Cognitive Systems:
- ECCERobot
- Amarsi
- EU-Cog II/III
• Private funding/others:
- CIAN (Club of Intelligent Angels) 120
- Maxon Motor
- Festo
- Hasler Foundation

144. The Zurich AI Lab —
Spin-offs
• Neuronics
• Dynamic Devices
• Starmind Innovation
• Enexra inc.
Enexra 121

145. “Embodied Perception”
122

146. Thank you for your
attention!
123

147. th
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co eo
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st so co
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so hab ns one
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en tu le (sk s
em de
no rial rs ics
ch ate rgy to tron in)
s r-
soft
robots
behaviors
environment
sophisticated
rapidly changing
m
or
ph
si c o
sy m o lo
de
ac s
nt ula -ev gy
h
le ce ira in et tion olu and
en ga p bl m te ic /r tio c
vi l is tan ity et rdi me ea n on
et ron su ce
hi m es
ho sc th l ro of tro
so l
ca en
l t
do iplin odo bo
ci lo ary log ts
et g y
al al
ic

148. First hand
prototype
soft movements,
materials
Design and
construction:
Konstantinos 125
Dermitzakis, AILab,
UZH

149. First hand
prototype
soft movements,
materials
Design and
construction:
Konstantinos 125
Dermitzakis, AILab,
UZH

150. Wheel chair: controlled
by brain waves
recognition of
subject’s
intentions based
on analysis of
non-invasive EEG
signals
126
Design and construction:
Jose del Millan, EPFL, Switzerland

151. Fitness center of ten, nine,
eight, …
the future?
Robot development by
Osaka 127
University and Kokoro

152. Entertainment and sports
ALP: The Adaptive Leg Press
Design and
construction:
Max Lungarella
and Raja Dravid
128

153. Entertainment and sports
ALP: The Adaptive Leg Press
Design and
construction:
Max Lungarella
and Raja Dravid
wichtig:
“soft
interaction” 129

154. Entertainment and sports
ALP: The Adaptive Leg Press
Design and
construction:
Max Lungarella
and Raja Dravid
wichtig:
“soft
interaction” 129

155. Let me be clear
The brain is important!— but not the
whole story
“... if we want to understand how the brain
contributes to consciousness, we need to look at
the brain’s job in relation to the larger nonbrain
body and the environment in which we find
ourselves.” (Alva Noë, Out of our heads, 2009)
130

156. Overview: Challenges
ACTUATIO CONTROL/ MANUFACT APPLICATI COMMUNIT
MODELING SENSING ORCHESTR ENERGY MATERIALS
N U-RING ONS IES
AT-ION
physical deformable artificial acquisition design metabolis functional manipulati material
simulation structures muscles of control tools, m mat. on for science,
methodolo changeable assembly/ soft-
theory, variable gy properties surgery matter
growing assembly, entertainm neuroscien
compliance structures compliance model-free growth
storage skin-line
ent
physics
ce
hard to actuactors
model
system space and self- growing/ therapy, biomechani
power decentraliz
identificati time density ed assembly healing human cs and bio-
on resolution multi-layer self-repair
assistance engineerin
deposition g
implement large-scale embedding morpholog building understand manufactur
ical composite ing process
at-ion distributed technology blocks ing life
computatio engineerin
embedding n
underactua g
organic
technologi ted/ mobility ALife/AI
materials?
es overactuat
other ed systems
human/ smart comp.
sensor robot programm science
modalities interaction, able electrical
(e.g. emotion materials engineerin
131