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Robot Discovers Itself, Adapts to Injury from PhysOrg.com
Nothing can possibly go wrong … go wrong … go wrong … The truth behind the old joke is that most robots are programmed with a fairly rigid “model” of what they and the world around them are like. If a robot is damaged or its environment changes unexpectedly, it can’t adapt.

Instead of giving the robot a rigid set of instructions, the researchers let it discover its own nature and work out how to control itself, a process that seems to resemble the way human and animal babies discover and manipulate their bodies. The ability to build this “self-model” is what makes it able to adapt to injury.

It begins by building a series of computer models of how its parts might be arranged, at first just putting them together in random arrangements. Then it develops commands it might send to its motors to test the models. A key step, the researchers said, is that it selects the commands most likely to produce different results depending on which model is correct. It executes the commands and revises its models based on the results. It repeats this cycle 15 times, then attempts to move forward.

“The machine does not have a single model of itself — it has many, simultaneous, competing, different, candidate models. The models compete over which can best explain the past experiences of the robot,” Lipson said.

The result is usually an ungainly but functional gait; the most effective so far is a sort of inchworm motion in which the robot alternately moves its legs and body forward.

Once the robot reaches that point, the experimenters remove part of one leg. When the robot can’t move forward, it again builds and tests 16 simulations to develop a new gait.

The researchers limited the robot to 16 test cycles with space exploration in mind. “You don’t want a robot on Mars thrashing around in the sand too much and possibly causing more damage,” Bongard explained.

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