Compliant Body as a Source of Intelligence
No one denies that the brain is the main organ for cognition. However, the brain has evolved with the body. We cannot really understand how the brain works unless we understand the function of the body. In this chapter, we review several experimental examples of robots that have similar structures to humans and investigate the function of the body. It turns out that in order for a robot to achieve intelligent behavior, it is extremely important to have a compliant body with a muscular–skeletal structure.
KeywordsTrade-off between the stability and controllability Structural compliance Biarticular muscle Underactuated mechanism Dynamic touch Proprioceptive sensor Passive dynamic walking Coordination between joints (joint coordination)
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