The implications of embodiment for behavior and cognition: animal and robotic case studies

In this paper, we will argue that if we want to understand the function of the brain (or the control in the case of robots), we must understand how the brain is embedded into the physical system, and how the organism interacts with the real world. While embodiment has often been used in its trivial meaning, i.e. 'intelligence requires a body', the concept has deeper and more important implications, concerned with the relation between physical and information (neural, control) processes. A number of case studies are presented to illustrate the concept. These involve animals and robots and are concentrated around locomotion, grasping, and visual perception. A theoretical scheme that can be used to embed the diverse case studies will be presented. Finally, we will establish a link between the low-level sensory-motor processes and cognition. We will present an embodied view on categorization, and propose the concepts of 'body schema' and 'forward models' as a natural extension of the embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5

Foams with enhanced ductility and impact behavior based on polypropylene composites

Producción CientíficaIn this work, formulations based on composites of a linear polypropylene (L-PP), a long-chain branched polypropylene (LCB-PP), a polypropylene–graft–maleic anhydride (PP-MA), a styrene-ethylene-butylene-styrene copolymer (SEBS), glass fibers (GF), and halloysite nanotubes (HNT-QM) have been foamed by using the improved compression molding route (ICM), obtaining relative densities of about 0.62. The combination of the inclusion of elastomer and rigid phases with the use of the LCB-PP led to foams with a better cellular structure, an improved ductility, and considerable values of the elastic modulus. Consequently, the produced foams presented simultaneously an excellent impact performance and a high stiffness with respect to their corresponding solid counterparts.Unión Europea (Evolution project under grant 314744)Ministerio de Ciencia, Innovación y Universidades - Fondo Europeo de Desarrollo Regional (project RTI2018-098749-B-I00)Junta de Castilla y Leon (project VA275P18

Kinematic structure for robust mechanical architectures in robotic planetary exploration

This paper describes new research into the kinematic structure of autonomous robotic systems, and into the associated design processes. The approach aims to develop novel insights and applicable tools and techniques for designing advanced mechanical architectures for planetary exploration systems. These should provide enhanced functionality for tackling complex autonomous operations, and improved levels of robustness in the face of the inevitable system faults

Determination of local material properties of OSB sample by coupling advanced imaging techniques and morphology-based FEM simulation

This is the publisher’s final pdf. The published article is copyrighted by Walter de Gruyter & Co. and can be found at: http://www.degruyter.com/.The goal was to determine local mechanical properties inside of oriented strand board (OSB) based on a realistic morphology-based finite element (FE) model and data acquired from a physical test performed on the same material. The spatial information and local grayscale intensity from CT-scans obtained from small OSB sample was transformed into a 2D regular morphology-based FE mesh with corresponding material properties. The model was then used to simulate the actual compression test performed on the specimen using simplified boundary conditions. The simulated strain fields from the model were compared with the actual strain field measured on the specimen surface during the compression test by means of a full-field optical method, named digital image correlation (DIC). Finally, the original set of material properties was adjusted by an iterative procedure to minimize the difference between the simulated and the measured strain data. The results show that the developed procedure is useful to find local material properties as well as for morphological modeling without the need of segmentation of the image data. The achieved results serve as a prerequisite for full 3D analyses of the complex materials

Morphological Computation: Nothing but Physical Computation

The purpose of this paper is to argue against the claim that morphological computation is substantially different from other kinds of physical computation. I show that some (but not all) purported cases of morphological computation do not count as specifically computational, and that those that do are solely physical computational systems. These latter cases are not, however, specific enough: all computational systems, not only morphological ones, may (and sometimes should) be studied in various ways, including their energy efficiency, cost, reliability, and durability. Second, I critically analyze the notion of “offloading” computation to the morphology of an agent or robot, by showing that, literally, computation is sometimes not offloaded but simply avoided. Third, I point out that while the morphology of any agent is indicative of the environment that it is adapted to, or informative about that environment, it does not follow that every agent has access to its morphology as the model of its environment