Maple, J. T. et al. Methods of luminal distention for colonoscopy. Gastrointestinal endoscopy 77, 519–525, https://doi.org/10.1016/j.gie.2012.09.025 (2013). Weitschat R, Vogel J, Lantermann S, Hoppner H (2017) End-effector airbags to accelerate human-robot collaboration. Proc IEEE Int Conf Robot Autom 11(8):2279–2284 HC is the main contributor that designed the new iteration of BALLU, created the data-driven controller, conducted experiments, and wrote the manuscript. MA participated in devising new types of controllers for BALLU and writing the manuscript. DN and HN contributed to manufacturing and maintaining BALLU. DH is the inventor and the PI for BALLU, guided the project as the advisor, and contributed to the review of the paper. Funding

In addition, the above results imply that concentrating weight on the feet is more advantageous than putting weight on the pelvis. While those two results show similar pelvis trajectories, the increment on feet is four times larger than that on the pelvis, and the controller fails if the weights are increased further in both cases. This proves once again our design approach to allocate most of the parts on the feet (Section 2.1).

Conflict of Interest

And she argues that products using AI, such as self-driving cars, can be rigorously tested to ensure that any unpredictability is within certain acceptable limits. Alcaide, J. O., Pearson, L. & Rentschler, M. E. Design, modeling and control of a sma-actuated biomimetic robot with novel functional skin. In 2017 IEEE International Conference on Robotics and Automation (ICRA), 4338–4345, https://doi.org/10.1109/ICRA.2017.7989500 (2017).

Isayev, A. I. & Hieber, C. A. Toward a viscoelastic modelling of the injection molding process. Rheol. Acta 19, 168–182, https://doi.org/10.1007/BF01521928 (1980). In this way, AIs could be described as the silicon equivalent of people with savant syndrome, adds Riedl, citing a condition where a person has a serious mental disability but also possesses an extraordinary skill, usually related to memory. Bray, F. et al. Global cancer statistics 2018: Globocan estimates of incidence and mortality worldwide for 36 cancers in 185 countries. CA: a cancer journal for clinicians 68, 394–424, https://doi.org/10.3322/caac.21492 (2018). Pourghodrat, A. et al. Disposable fluidic self-propelling robot for colonoscopy. Journal of Medical Devices 8, 030931, https://doi.org/10.1115/1.4027076 (2014). And yet even this, an innocent game of Go, provokes different feelings among people. On the one hand, DeepMind has proudly described the ways in which its system, AlphaGo, was able to "innovate" and reveal new approaches to a game that humans have been playing for millennia. On the other hand, some questioned whether such an inventive AI could one day pose a serious risk to humans.Cianchetti, M., Mattoli, V., Mazzolai, B., Laschi, C. & Dario, P. A new design methodology of electrostrictive actuators for bio-inspired robotics. Sensors and Actuators B: Chemical 142, 288–297, https://doi.org/10.1016/j.snb.2009.08.039 (2009).

In the AI community, there's one example of AI creativity that seems to get cited more than any other. The moment that really got people excited about what AI can do, says Mark Riedl at the Georgia Institute of Technology, is when DeepMind showed how a machine learning system had mastered the ancient game Go – and then beat one of the world's best human players at it.When unexpected changes are given to the normal condition, it was able to observe the controller trying to overcome in the same way that the experts teleoperated, which is analyzed in Section 3. Singh K, Singh K, Son LH, Aziz A (2018) Congestion control in wireless sensor networks by hybrid multi-objective optimization algorithm. Comput Netw 138:90–107 Tolley, M. T. et al. A resilient, untethered soft robot. Soft Robotics 1, 213–223, https://doi.org/10.1089/soro.2014.0008 (2014). Manfredi, L., Putzu, F., Guler, S., Huan, Y. & Cuschieri, A. 4 DOFs hollow soft pneumatic actuator - HOSE. Materials Research Express 6, 045703, https://doi.org/10.1088/2053-1591/aaebea (2019). BALLU has only 2 DoF for each leg and only 1 active DoF on the knee because the hip joint is passive and freely rotates. Unlike the majority of robots that can follow the desired trajectory generated by a controller, passive dynamics govern BALLU’s hip joints and the controller has to realize the desired motion considering that the hip joint can only swing freely. 3.1.2 Nonlinear Dynamics

Presser trained the system on 2.4 million chess games. "It was really cool to see the chess engine come to life," he says. "I wasn't sure it would work at all." But it did. It's not as good as specially designed chess computers – but it's capable of playing tough matches successfully. In BALLU2, to enhance BALLU’s functionality, several changes have been made to the BALLU1’s design. The new iteration of BALLU can primarily be broken up into four components: the balloons, the pelvis link, the leg, the knee joint, and the foot. 2.1.1 Balloons Single-rotor drone: A single-rotor drone is a drone with only one rotor. They are generally larger than other drones. Plus, they use gas engines instead of batteries and can lift some decent weights. Hosokawa, D., Ishikawa, T., Morikawa, H., Imai, Y. & Yamaguchi, T. Development of a biologically inspired locomotion system for a capsule endoscope. The International Journal of Medical Robotics and Computer Assisted Surgery 5, 471–478, https://doi.org/10.1002/rcs.284 (2009). For the design parameters and the knee joint displacement θ within the joint limits, a range of spring constant κ can be obtained from Eq. 8. Among satisfying κ, we prefer to choose a relatively low stiffness. It is because, when the spring constant takes a lower value, the dynamics change more drastically between a single support phase and a double support phase, and the controller would have more options to control its motion by adjusting each phase length. Through a handful of empirical tests, a torsion spring with 0.1409N mm/deg with 135° was chosen. 2.1.5 FeetThis, says Togelius, is a bit like an AI developing a superstition: "You got a reward or a punishment for something – but why did you get it?" Each leg is a modular component that can be attached to the pelvis link, comprised of a hip joint, a femur and tibia links, a knee joint holding the two links, and a foot. The hip joint is simply a 3D printed part with a bearing in it that slots around the pelvis link so that they freely swing without actuation. The links are hollow and square carbon fiber parts that the wires go through. The knee joints and feet are presented in the following sections. 2.1.4 Knee Joints We’re still lagging towards the bottom of the table when it comes to robot density, and our productivity is low compared to other countries too. If we were to follow the lead of our peers and invest more in robotics, it’s not hard to imagine that we could see an upward trend in productivity and even significantly increase our GDP. If BALLU’s feet are behind the center of the pelvis during the double support phase, the horizontal components of the two legs are effectively aligned and the robot can induce a large acceleration. However, this has a risk, as the robot can fall into the aforementioned sink-down state if it holds this state for too long. The first set of simulations make changes in mass properties. With heavier feet or pelvis, the body would be easier to sink down. First, the pelvis mass is increased by 6.4% (from 31.2 to 33.2 g), and secondly, the feet masses are increased by 16.5% (from 24.2 to 28.2 g), respectively. The second set of modifications is the change in commanded velocity, and two simulations are conducted in a slower velocity and a higher velocity. 5.2 Hardware Verification