Date of Award

6-2022

Document Type

Union College Only

Degree Name

Bachelor of Science

Department

Computer Science

First Advisor

John Rieffel

Keywords

Soft Robotics, Silicone Robots, Behavioral Repertoire

Abstract

Completely soft robots are emerging as attractive systems in the field of soft robotics. Unlike conventional robots, soft robots are far more flexible and can easily adapt to their environments. Because they have these properties, their behaviors are difficult to study and control. We first design and build robots made out of silicone rubber. We then actuate them in order to observe how their morphologies affect their behaviors, tracking their movements with Qualisys Motion Capture cameras. This process allows
us to gather their tracking data. We then run the data against a Quality Diversity Algorithm that can autonomously generate a behavioral repertoire of diverse and efficient behaviors so that our robots can be efficient and autonomous.

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Rights Statement

In Copyright - Educational Use Permitted.