Automated Synthesis of Pneumatic Bending Soft Actuators
We present an automated method for the discovery of pneumatic bending soft actuators
We incentivize the discovery of actuators which are simultaneously compliant and forceful using custom fitness functions
We fabricate bending soft actuator and compare its performance to published results
An Expressive Representation
Our method hinges on a compact, expressive representation of actuator geometry. All the designs below are generated using the same computational network topology - only network weights and biases are modified to achieve the breadth of morphologies below!
We compare the performance of a selection of automatically designed actuators in simulation, along with a empirical performance of a fabricated sample, with a selection of published results. While the automatically discovered actuator is not Pareto-dominant, it shows similar performance to related results while requiring no human design effort. All designs were discovered using 300 core-hours of compute time.