Fig. 12: Loopy’s average cell performance across ten trials of the six phases of the emergence of mechanical properties experiment.
From: Cellular plasticity model for self-organized phenotypes in multi-cellular robots
Each subplot displays the mean and upper/lower semi-variance for position error (A), motor speed (B), and cumulative motor overtorque failures (C). The proposed cellular plasticity method CP had less position error than the performance-tuned configuration PT throughout the six phases due to PT experiencing an average of 4.5 motor failures while CP only experienced 1.1 failures. In addition, CP in the obstacle-free environment performed similarly to the performed-tuned configuration that only experienced an obstacle-free environment PTfree. The proposed method also had the greatest motor speed during the rotation phases. These trends highlight Loopy’s resiliency and ability to adapt to support its behavior in changing environments.
