Summary
the 2014 International Symposium on Nonlinear Theory and its Applications
2014
Session Number:A2L-D
Session:
Number:A2L-D6
Employing L-systems to Generate Mass-Spring Networks for Morphological Computing
R. Bernhardsgrutter, C. W. Senn, R. M. Fuchslin, C. Jaeger, K. Nakajima, H. Hauser,
pp.184-187
Publication Date:2014/9/14
Online ISSN:2188-5079
Summary:
Robot arms equipped with an additional network of masses and springs enable a facilitation of control by the exploitation of morphological properties. Typically, these mass-spring networks are being generated randomly. This approach comes in its basic form unhandy when the network should obey speciffic constraints, such as spring lengths, angles between springs or, e.g., the physical expansion range of the network. We present an approach of emulating a growth process on the basis of L-systems. Therefore, we have developed a simulation environment to define L-systems and instructions to translate the produced strings into mass-spring networks.