Author:
Mauno Rönkkö
Affiliation:
University of Kuopio, Finland
Keyword(s):
Robotics, previsualization, modelling, emergent dynamics, simulation, formal methods.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robotics and Automation
Abstract:
In this paper, we discuss use of previsualization in robotics. In previsualization, a computer animates a highly underspecified model; thus, helping the designers to detect missing components. When applied to robotics, previsualization should reveal detailed dynamics that is not explicitly specified in the model. In particular, it should reveal interaction dynamics of the physical components. Such a requirement is non-trivial. In this paper, we investigate an atomic approach that uses emergent dynamics to reveal the interaction dynamics. The approach is based on use of atoms that obey simple, compositional interaction laws. The laws produce emergent interaction dynamics for physical components composed of atoms. As the main contribution, we shall illustrate how the atomic approach, despite its simplicity, captures compactly non-trivial settings, and reveals effortlessly intricate dynamics that are otherwise considered too laborious for modelling.