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Embodied robots driven by self-organized environmental feedback [article]

Frederike Kubandt, Michael Nowak, Tim Koglin, Claudius Gros, Bulcsu Sandor
2019 arXiv   pre-print
Which kind of complex behavior may arise from self-organizing principles?  ...  The robot is self organized both on the level of the individual wheels and with respect to inter-wheel coordination, which arises exclusively from the mechanical coupling of the individual wheels and segments  ...  Self-organized embodied robots  ... 
arXiv:1905.07153v1 fatcat:rzeawswjo5d6pe5yr6lg4h6aa4

Embodiment Enables Non-Predictive Ways of Coping with Self-Caused Sensory Stimuli [article]

James Garner, Matthew Egbert
2022 arXiv   pre-print
A given sensor can be stimulated as the result of internally driven activity, or by purely external (environmental) sources.  ...  To critically evaluate this idea, and investigate when non-predictive solutions may be viable, we implement a computational model of a simple embodied system with self-caused sensorimotor dynamics, and  ...  New Zealand's national facilities are provided by NeSI and funded jointly by NeSI's collaborator institutions and through the Ministry of Business, Innovation & Employment's Research Infrastructure programme  ... 
arXiv:2205.06446v1 fatcat:2vbpioboxvczxh2nyz2ykoyhj4

Editorial: Neural Computation in Embodied Closed-Loop Systems for the Generation of Complex Behavior: From Biology to Technology

Poramate Manoonpong, Christian Tetzlaff
2018 Frontiers in Neurorobotics  
We acknowledge funding by the H2020-FETPROACT project Plan4Act (no. 732266). PM acknowledges support from the  ...  Der and Martius report self-organized behavior of an anthropomorphic musculoskeletal robot arm.  ...  By contrast, the adaptive controller self-adapts according to the new environmental state or different hand poses.  ... 
doi:10.3389/fnbot.2018.00053 pmid:30214405 pmcid:PMC6125336 fatcat:wl75gxccardnloy63wlngnbl6e

The Sensorimotor Loop as a Dynamical System: How Regular Motion Primitives May Emerge from Self-Organized Limit Cycles

Bulcsú Sándor, Tim Jahn, Laura Martin, Claudius Gros
2015 Frontiers in Robotics and AI  
These are self-organized in the sense, that the dynamics of the actuator kicks in only, for a certain range of parameters, when the barrel is already rolling, stopping otherwise.  ...  For a robot with a cylindrical shaped body and an actuator controlled by a single proprioceptual neuron we find various types of periodic motions in terms of stable limit cycles.  ...  Embodiment as Self-Organized Motion Most robots are autonomously active in the sense that the motion is not essentially dependent on the feedback of the environment.  ... 
doi:10.3389/frobt.2015.00031 fatcat:wrrqyyvcoff75lhuhpbl4evora

Astrocyte-Synapse Receptor Coupling in Tripartite Synapses: A Mechanism for Self-Observing Robots

Bernhard J. Mitterauer
2018 Advances in Bioscience and Biotechnology  
Astrocyte-synapse interactions are cyclically organized and operate via feedforward and feedback mechanisms, formally described by proemial counting.  ...  This mechanism is implemented for a robot brain enabling the robot to experience environmental information as "its own".  ...  observations and the environmental information, based on a cyclic organization of the mechanism.  ... 
doi:10.4236/abb.2018.92006 fatcat:mqa4aikn6zaibfa5sglhayfhry

Major Feedback Loops Supporting Artificial Evolution in Multi-modular Robotics [chapter]

Thomas Schmickl, Jürgen Stradner, Heiko Hamann, Lutz Winkler, Karl Crailsheim
2011 Studies in Computational Intelligence  
We propose artificial evolution and self-organization as methodologies to develop such control software. In this article, we present our concept to evolve a self-organized multimodular robot.  ...  In multi-modular reconfigurable robotics it is extremely challenging to develop control software that is able to generate robust but still flexible behavior of the 'robotic organism' that is formed by  ...  process, driven by the AHHS itself.  ... 
doi:10.1007/978-3-642-18272-3_13 fatcat:g6sgix7zdrev7mqoxkhmhpe2am

Intelligent Self-Organized Robust Control Design based on Quantum/Soft Computing Technologies and Kansei Engineering

S.V. Ulyanov
2013 Computer Science Journal of Moldova  
The solution of an important problem as robust intelligent control system design based on quantum knowledge base self-organization in unpredicted control situations and information risk is proposed.  ...  Kansei/Affective Engineering technology and its toolkit include qualitative description of human being emotion, instinct and intuition that are used effectively in design processes of smart/wise robotics  ...  of self-organization and embodiment; that is, the reciprocal and dynamical coupling among brain (control), body, and environment.  ... 
doaj:ab22ce07099a4c2ebd161489ce4fead5 fatcat:m4zkc7phmnc6zi2bj6grejdwku

Incremental Embodied Chaotic Exploration of Self-Organized Motor Behaviors with Proprioceptor Adaptation

Yoonsik Shim, Phil Husbands
2015 Frontiers in Robotics and AI  
feedback driven bifurcation.  ...  University of Sussex, Falmer, Brighton BN1 9QJ, UK Keywords: embodiment, goal-directed chaotic search, self-organization, adaptive robotics, evolutionary robotics, e-mail:  ... 
doi:10.3389/frobt.2015.00007 fatcat:wkien6b5offn5cfjvq5gcamwde

Flora Robotica - Mixed Societies of Symbiotic Robot-Plant Bio-Hybrids

Heiko Hamann, Mostafa Wahby, Thomas Schmickl, Payam Zahadat, Daniel Hofstadler, Kasper Stoy, Sebastian Risi, Andres Faina, Frank Veenstra, Serge Kernbach, Igor Kuksin, Olga Kernbach (+2 others)
2015 2015 IEEE Symposium Series on Computational Intelligence  
They form an embodied, self-organizing, and distributed cognitive system which is supposed to grow and develop over long periods of time resulting in the creation of meaningful architectural structures  ...  These robot-plant bio-hybrids create synergies that allow for new functions of plants and robots.  ...  The control system of the robotic modules cooperates with the plants following principles of self-organization and it incorporates feedbacks from the plant to achieve long-term learning and adaptation.  ... 
doi:10.1109/ssci.2015.158 dblp:conf/ssci/HamannWSZHSRFVK15 fatcat:7x4enb62nzdzlbvaxvi6ulwdye

Fusing autonomy and sociality via embodied emergence and development of behaviour and cognition from fetal period

Yasuo Kuniyoshi
2019 Philosophical Transactions of the Royal Society of London. Biological Sciences  
Driven by spinal nonlinear oscillator circuits coupled together via embodiment, somatosensory signals are evoked and learned by a model of the cerebral cortex with 2.6 million neurons and 5.3 billion synapses  ...  Behaviours that are consistent with embodiment and adaptive to environmental structure emerge within a few seconds without any external reward or learning.  ...  In addition, there is weak self feedback and input mixing (broken arrows) (reprinted from [52] ,Fig. 1, with permission). (b) The 'insect' type robot with a symmetric structure.  ... 
doi:10.1098/rstb.2018.0031 pmid:30852992 pmcid:PMC6452254 fatcat:ebmqbqydf5gypntxakyy2yhgxu

Embodied Artificial Intelligence through Distributed Adaptive Control: An Integrated Framework [article]

Clément Moulin-Frier, Jordi-Ysard Puigbò, Xerxes D. Arsiwalla, Martì Sanchez-Fibla, Paul F. M. J. Verschure
2017 arXiv   pre-print
In this paper, we argue that the future of Artificial Intelligence research resides in two keywords: integration and embodiment. We support this claim by analyzing the recent advances of the field.  ...  We demonstrate the utility of our approach by showing how major contributions of the field can be expressed within the proposed framework.  ...  Such complex systems have usually been studied in the context of Evolutionary Robotics [41] where coadaptation is driven by a simulated Darwinian selection process.  ... 
arXiv:1704.01407v3 fatcat:jqdvpkzjrnedzpxfz7bxhfn5mm

Enacting Plant-Inspired Robotics

Jonny Lee, Paco Calvo
2022 Frontiers in Neurorobotics  
intelligence embodied in a self-organizing, autonomous system.  ...  fixed source of energy and material provided by an external agent.  ...  A common advantage of soft (over hard) robots is greater bodily flexibility and adaptability to the environmental constraints.  ... 
doi:10.3389/fnbot.2021.772012 pmid:35173596 pmcid:PMC8841489 fatcat:yyqlx3astfgxvhmikvhvoobmjy

Evolving Embodied Genetic Regulatory Network-Driven Control Systems [chapter]

Tom Quick, Chrystopher L. Nehaniv, Kerstin Dautenhahn, Graham Roberts
2003 Lecture Notes in Computer Science  
We demonstrate the evolution of simple embodied Genetic Regulatory Networks (GRNs) as real-time control systems for robotic and software-based embodied Artificial Organisms, and present results from two  ...  The environment in which the organisms are embodied is shown to play a significant role in the dynamics of the GRNs, and the behaviour of the organisms.  ...  = 1 Fig. 7 . 7 GRN-driven phototactic robot controller trajectories (N =1,K=1), on a 2D surface.  ... 
doi:10.1007/978-3-540-39432-7_29 fatcat:gocu5ttcrbgaffifguvvfnyr6u

Self-Organized Behavior Generation for Musculoskeletal Robots

Ralf Der, Georg Martius
2017 Frontiers in Neurorobotics  
Besides converging toward one of these attractors, variate behavior is also arising from a self-induced attractor morphing driven by the learning rule.  ...  The central finding of the paper is the following effect: by the mere feedback through the internal dynamics of the object, the robot is learning to relate each of the objects with a very specific sensorimotor  ...  Special thanks go also to Rafael Hostettler for helping us with the robot and control framework.  ... 
doi:10.3389/fnbot.2017.00008 pmid:28360852 pmcid:PMC5352682 fatcat:asizufjnlvbmrlpqqp4a56mi4e

From real robot swarm to evolutionary multi-robot organism

S. Kornienko, O. Kornienko, A. Nagarathinam, P. Levi
2007 2007 IEEE Congress on Evolutionary Computation  
We show the developed docking approach and investigate topological transformations in a prototype of self-assembling robots.  ...  a higher multirobot organism.  ...  The second case appears when macroscopic capabilities are defined by environmental feedback.  ... 
doi:10.1109/cec.2007.4424647 dblp:conf/cec/KornienkoKNL07 fatcat:bjlpewru7vbh7bn2o4q4hucpl4
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