Morphology-based Embodied Intelligence: Historical Retrospect and Research Progress
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摘要: 具身智能强调智能受脑、身体与环境协同影响, 更侧重关注智能体与环境的“交互”. 因此, 在具身智能的研究中, 智能体的物理形态与感知、学习、控制的关系起到至关重要的作用. 当前, 具身智能综合吸收了机构学领域关于形态、结构, 机器学习领域关于感知、学习, 以及机器人领域关于行为、控制等的相关研究成果, 形成了相对完整、独立并仍在蓬勃发展的学科分支. 但是, 目前尚无文献完整地梳理基于形态的具身智能研究进展. 本文从这个角度出发, 重点围绕基于形态计算的行为生成、基于学习的形态控制, 以及基于学习的形态优化这三方面总结重要的研究进展, 凝炼相关的科学问题, 并总结未来的发展方向, 可为具身智能的研究提供参考.Abstract: Embodied intelligence emphasizes that the intelligence is influenced by the interaction among brain, body and environment. It is more focused on the interaction between the agent and environment. Therefore, the relationship between the physical morphology and perception, learning, and control of the intelligent agent plays a vital role in the research of embodied intelligence. Currently, embodied intelligence comprehensively utilizes the research results from the communities of mechanism, machine learning, and robotics to form a new ever-growing branch. However, there is still no complete survey to summarize the research progress of the morphology-based embodied intelligence. In this paper, we focus on the aspects of morphology computation based behavior generation, learning based morphology control, and learning based morphology optimization to summarize important research progress, scientific issues and future development directions, which can provide reference for the embodied intelligence research.
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图 2 瓦特发明的蒸汽机离心调速器与现代自动控制结构的对比
Fig. 2 The comparison between the steamer centrifugal governor invented by Watt and the structure of modern automatic control
图 3 (a) 被动机器人原理样机[26], 经许可转载自文献[26], ©AAAS, 2005; (b) 三类机器人平台[26]: A: 康奈尔机器人; B: 德尔夫特机器人; C: MIT机器人, 经许可转载自文献[26], ©AAAS, 2005
Fig. 3 (a) Passive robot prototypes[26], reproduced with permission from reference [26], ©AAAS, 2005; (b) three robotic platforms[26]: A: Cornel robot; B: Delft robot; C: MIT robot, reproduced with permission from reference [26], ©AAAS, 2005
图 4 具身形态计算的储备池计算模型
Fig. 4 The reservoir computing models for embodied morphology computing
图 6 典型的储备池计算具身形态计算装置
Fig. 6 Typical embodied morphology computing devices of reservoir computing
图 20 软体机器人形态进化(不同颜色对应不同的材料特性)
Fig. 20 Morphology evolving of soft robot (different colors correspond to different material characteristics)
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