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Tham khảo tài liệu 'biomimetics - biologically inspired technologies - yoseph bar cohen episode 1 part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 132 Biomimetics Biologically Inspired Technologies 4.3 MACHINE BODIES AND BRAINS Many systems including robotic systems in particular are often viewed as comprising two major parts the morphology and the controller. The morphology is the physical structure of the system and the controller is a separate unit that governs the behavior of the morphology by setting the states of actuators and reading sensory data. In nature we often refer to these as the body and brain respectively. In control theory we refer to these as the plant and the control the term plant as in manufacturing plant is used because of the original industrial applications . In computer engineering terms this often translates into hardware and software. This distinction is semantic we simply tend to refer to the part which is more easily adaptable as control and the part that is fixed as the morphology. In practice both the morphology and control contribute to the overall behavior of the system and the distinction between them is blurred. Very often a particular morphology accounts for some of the control and the control is embedded in the morphology. Nevertheless in describing the application of evolutionary design to systems we find this distinction pedagogically useful. In the following sections we will see a series of examples of the application of evolutionary processes to open-ended synthesis. These examples were chosen to illustrate the design of robotic systems for their intuitiveness starting at control and moving on to both control and morphology. Following these examples we will take a look at the common principles and future challenges. 4.3.1 Evolving Controllers It is perhaps easier both conceptually and technically to explore application of evolutionary techniques to the design of robot controllers before using it to evolve their morphologies too. Robot controllers can be represented in any one of a number of ways as logic functions if-then-else rules as finite state machines as .
