Date of Award
Bachelor of Science
robot, design, mechanism, development, coding
Creating eﬀective designs for soft robots is extremely diﬃcult due to the large number of diﬀerent possibilities for shape, material properties, and movement mechanisms. Due to the lack of methods to design soft robots, previous research has used evolutionary algorithms to tackle this problem of overwhelming options. A popular technique is to use generative encodings to create designs using evolutionary algorithms because of their modularity and ability to induce large scale coordinated change. The main drawback of generative encodings is that it is diﬃcult to know where along the ontogenic trajectory resides the phenotype with the highest ﬁtness. The two main approaches for addressing this issue are static and scaled developmental timings. In order to compare the eﬀectiveness of each of these two approaches, I have implemented a framework capable of evolving soft robot designs that utilize vibration as a movement mechanism.
Danise, Andrew, "Evolving Soft Robots with Vibration Based Movement" (2014). Honors Theses. 509.