Morphological adaptation in an energy efficient vibration-based robot

Shiv Katiyar, Ghopy Kandasamy, Eranda Kulatunga, Md Mustafizur, Fumiya Iida, Surya G. Nurzaman

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

1 Citation (Scopus)


Morphological computation is a concept relevant to robots made of soft and elastic materials. It states that robot's rich dynamics can be exploited to generate desirable behaviors, which can be altered when their morphology is adapted accordingly. This paper presents a low-cost robot made of elastic curved beam driven by a motor, with morphological computation and adaptation ability. Simply by changing robot's shape and the rotating frequency of the motor that vibrates the robot's body, the robot is able to shift its behavior from showing a tendency to slide when it needs to perform tasks like going under confined space, to have more tendency to hop diagonally forward when the robot stands upright. It will also be shown that based on the proposed mechanism, the energy efficiency of the robot locomotion can be maximized.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781538630815
Publication statusPublished - 10 Sep 2018
EventIEEE International Conference on Robotics and Automation 2018 - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21 May 201825 May 2018 (Website) (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


ConferenceIEEE International Conference on Robotics and Automation 2018
Abbreviated titleICRA 2018
Internet address

Cite this