Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots

As autonomous machines capable of interacting with the real world, various types of robots, such as wheeled mobile robots, quadrupedal robots, and humanoid robots, are emerging in domestic, factory, and other environments to collaborate with humans or accomplish tasks independently. The morphology of a robot is the essential factor that most directly affects the robot's configuration space, thereby determining the robot's function [1]. Robot morphology is primarily determined during the design process, thanks to the development of computer-aided design (CAD) technology, which makes it cost-effective, time-saving, and efficient compared to the manufacturing process. Beyond robot morphology, learning has become an essential topic in robotics because it enables robots to achieve complex tasks and, thus, better interact with the environment. However, training robots in hardware may lead to failures or damage, making it expensive and time-consuming.