A concise guide to modelling the physics of embodied intelligence in soft robotics

Gianmarco Mengaldo; Federico Renda; Steven L. Brunton; Moritz Bächer; Marcello Calisti; Christian Duriez; Gregory S. Chirikjian; Cecilia Laschi

doi:10.1038/s42254-022-00481-z

A concise guide to modelling the physics of embodied intelligence in soft robotics

Gianmarco Mengaldo
, Federico Renda
, Steven L. Brunton
, Moritz Bächer
, Marcello Calisti
, Christian Duriez
, Gregory S. Chirikjian
, Cecilia Laschi

Mechanical & Nuclear Engineering

Research output: Contribution to journal › Article › peer-review

125 Scopus citations

Abstract

Embodied intelligence (intelligence that requires and leverages a physical body) is a well-known paradigm in soft robotics, but its mathematical description and consequent computational modelling remain elusive, with a need for models that can be used for design and control purposes. We argue that filling this gap will enable full uptake of embodied intelligence in soft robots. We provide a concise guide to the main mathematical modelling approaches, and consequent computational modelling strategies, that can be used to describe soft robots and their physical interactions with the surrounding environment, including fluid and solid media. We aim to convey the challenges and opportunities within the context of modelling the physical interactions underpinning embodied intelligence. We emphasize that interdisciplinary work is required, especially in the context of fully coupled robot–environment interaction modelling. Promoting this dialogue across disciplines is a necessary step to further advance the field of soft robotics.

Original language	British English
Pages (from-to)	595-610
Number of pages	16
Journal	Nature Reviews Physics
Volume	4
Issue number	9
DOIs	https://doi.org/10.1038/s42254-022-00481-z
State	Published - Sep 2022

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abstract = "Embodied intelligence (intelligence that requires and leverages a physical body) is a well-known paradigm in soft robotics, but its mathematical description and consequent computational modelling remain elusive, with a need for models that can be used for design and control purposes. We argue that filling this gap will enable full uptake of embodied intelligence in soft robots. We provide a concise guide to the main mathematical modelling approaches, and consequent computational modelling strategies, that can be used to describe soft robots and their physical interactions with the surrounding environment, including fluid and solid media. We aim to convey the challenges and opportunities within the context of modelling the physical interactions underpinning embodied intelligence. We emphasize that interdisciplinary work is required, especially in the context of fully coupled robot–environment interaction modelling. Promoting this dialogue across disciplines is a necessary step to further advance the field of soft robotics.",

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note = "Funding Information: G.M. acknowledges NUS support through his start-up grant (R-265-000-A36-133). G.S.C. acknowledges MOE Tier 1 grant (R-265-000-655-114). C.L. acknowledges NUS support through her start-up grant (R-265-000-A31-133 and R-265-000-A31-731). Part of this research is supported by the National Research Foundation, Singapore, under its Medium Sized Centre Programme — Centre for Advanced Robotics Technology Innovation (CARTIN). G.M., G.S.C. and C.L. acknowledge MOE Tier 2 grant {\textquoteleft}REBOT{\textquoteright}. This work was supported in part by the US Office of Naval Research Global under grant N62909-21-1-2033 and Khalifa University of Science and Technology under grants CIRA-2020-074 and RC1-2018-KUCARS. Publisher Copyright: {\textcopyright} 2022, Springer Nature Limited.",

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AU - Chirikjian, Gregory S.

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A concise guide to modelling the physics of embodied intelligence in soft robotics

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