“Sensor-actuator networks” by Panne and Fiume

  • ©Michiel van de Panne and Eugene Fiume




    Sensor-actuator networks



    Sensor-actuator networks (SANs) are a new approach for the
    physically-based animation of objects. The user supplies the configuration of a mechanical system that has been augmented with
    simple sensors and actuators. It is then possible to automatically
    discover many possible modes of locomotion for the given object.
    The SANs providing the control for these modes of locomotion
    are simple in structure and produce robust control. A SAN consists of a small non-linear network of weighted connections
    between sensors and actuators. A stochastic procedure for finding
    and then improving suitable SANs is given. Ten different creatures controlled by this method are presented

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