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Self-Organized Behavior Generation for Musculoskeletal Robots
2017
Frontiers in Neurorobotics
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We claim that experimental investigations with this anthropomorphic, self-learning robot not only generate interesting and potentially useful behaviors, but may also help to better understand what subjective ...
The paper presents a self-learning neurocontroller based on extrinsic differential plasticity introduced recently, applying it to an anthropomorphic musculoskeletal robot arm with attached objects of unknown ...
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
Neural-body coupling for emergent locomotion: A musculoskeletal quadruped robot with spinobulbar model
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Furthermore, we found similar results in robot experiments with the generation of various coordinated locomotion patterns created in a self-organized manner. ...
Our results demonstrate that the dynamical interaction between the physics of the body with the neural dynamics can shape behavioral patterns for adaptive locomotion in an autonomous fashion. ...
Our results suggest that this biologically-inspired strategy can generate a wide range of dynamical behavioral patterns in a self-organized fashion. ...
doi:10.1109/iros.2011.6094752
dblp:conf/iros/YamadaNSNK11
fatcat:ti4whtt3wrgi7amc6zwphwxofy
Neural-body coupling for emergent locomotion: A musculoskeletal quadruped robot with spinobulbar model
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Furthermore, we found similar results in robot experiments with the generation of various coordinated locomotion patterns created in a self-organized manner. ...
Our results demonstrate that the dynamical interaction between the physics of the body with the neural dynamics can shape behavioral patterns for adaptive locomotion in an autonomous fashion. ...
Our results suggest that this biologically-inspired strategy can generate a wide range of dynamical behavioral patterns in a self-organized fashion. ...
doi:10.1109/iros.2011.6048360
fatcat:32ilzgug5bdljlpvfbrlle25pe
Self-Organization, Embodiment, and Biologically Inspired Robotics
2007
Science
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Self-Organization, Embodiment, and Biologically www.sciencemag.org (this information is current as of June 4, 2009 ): The following resources related to this article are available online at ...
Bio-Inspired Embodied Systems Artifacts in general and robots in particular are always designed for a particular task environment in which they have to achieve certain behaviors. ...
Fig. 2 . 2 Self-organization, dynamics, and materials in bio-inspired robotics. (A) Smooth transition between swimming and walking
Fig. 3 . 3 Self-stabilization. ...
doi:10.1126/science.1145803
pmid:18006736
fatcat:nl52szzhw5gttmbod5pl454boa
Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review
2017
Frontiers in Neurorobotics
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Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. ...
legged robots. ...
Foundation, Japan, by the Kyoto Technoscience Center, Japan, and by the Centre for BioRobotics (CBR) at the University of Southern Denmark (SDU, Denmark). ...
doi:10.3389/fnbot.2017.00039
pmid:28878645
pmcid:PMC5572352
fatcat:bx7yddovabadtmpuoua7ot5b6m
Editorial: Neural Computation in Embodied Closed-Loop Systems for the Generation of Complex Behavior: From Biology to Technology
2018
Frontiers in Neurorobotics
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Der and Martius report self-organized behavior of an anthropomorphic musculoskeletal robot arm. ...
(Schilling and Cruse), and self-organized complex locomotion patterns (Martin et al.) . ...
doi:10.3389/fnbot.2018.00053
pmid:30214405
pmcid:PMC6125336
fatcat:wl75gxccardnloy63wlngnbl6e
Cognition from the bottom up: on biological inspiration, body morphology, and soft materials
2014
Trends in Cognitive Sciences
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Studies in biologically inspired robotics and embodied intelligence, however, provide strong evidence that cognition cannot be analyzed and understood by looking at computational processes alone, but that ...
In this opinion article, we review recent progress in cognitive developmental science and robotics, and expand the notion of embodiment to include soft materials and body morphology in the big picture. ...
of organisms over many generations ( Figure 2 ) (see [14] , derived from [29] ). ...
doi:10.1016/j.tics.2014.04.004
pmid:24839893
fatcat:3f2g2cv32nhpzl2bffxfz3zfde
Self-organized control for musculoskeletal robots
[article]
2016
arXiv
pre-print
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We also discuss perspectives for using this controller paradigm for intention driven behavior generation. ...
However, in elastically actuated robots this approach faces severe difficulties. This paper advocates for a new paradigm of self-organized control. ...
Special thanks goes also to Rafael Hostettler for helping us with the robot and control framework. ...
arXiv:1602.02990v2
fatcat:peafbej4j5fbpadldx6pxgl3ai
Learning Legged Locomotion
[chapter]
2009
Artificial Life Models in Hardware
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This experiment shows how self-organization processes that capture correlation of sensory-motor signals can generate sensible behavior patterns. ...
[16, 25, 26] ) will clarify more general rules to manage the higher dimension of parameter space in self-organizing processes of embodied systems. ...
doi:10.1007/978-1-84882-530-7_2
fatcat:mbvlpn2xifck5oipckor7j6ee4
Research on Walking Gait of Biped Robot Based on a Modified CPG Model
2015
Mathematical Problems in Engineering
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And a seven-link biped robot is employed to simulate cyclic walking gait in order to test the validity of the locomotion model. ...
The neurophysiological studies of animals locomotion have verified that the fundamental rhythmic movements of animals are generated by the central pattern generator (CPG). ...
Desired gait is generated by coordinating the movement of multiple oscillators in a self-organizing manner [20] . ...
doi:10.1155/2015/793208
fatcat:67m2526b6nbgvjunzknrrabrem
From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities
2021
Symmetry
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For designing humanoid walking robots, symmetry approaches have been mainly used to reduce the complexity of the online calculation. ...
The plasticity and flexibility of the nervous system allows the abilities to adapt and compensate for environmental constraints and musculoskeletal asymmetries in order to optimize the postural and movement ...
and behavioral organization [16, 17] . ...
doi:10.3390/sym13101773
fatcat:z4fnlszqgjenzeidi7pmcotnli
Hebbian learning for online prediction, neural recall and classical conditioning of anthropomimetic robot arm motions
2018
Bioinspiration & Biomimetics
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Hereby, novel applications for the HTM are opened: It can be used in musculoskeletal robot control scenarios and robots being able to interactively learn from human partners and the environment. ...
The HTM is able to learn arm movements generated by interaction with a human partner in a short time. It predicts future positions in different time scales up to seconds in advance. ...
Morphological computation lets generated behaviors look humanoid. ...
doi:10.1088/1748-3190/aae1c2
pmid:30221625
fatcat:bnlstrxrjfcv5hfygr2uhmpqgq
Chaotic itinerancy within the coupled dynamics between a physical body and neural oscillator networks
2017
PLoS ONE
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From this viewpoint, behavior patterns are self-organized from the interaction between the brain and the body in an environment. ...
., regular, small-world, scale-free, random) with a musculoskeletal model (i.e., a snake-like robot) as a physical body are conducted to understand how the chaotic itinerancy of bodily behavior emerges ...
Acknowledgments The authors are grateful to Ichiro Tsuda, Yukie Nagai, Hisashi Ishihara, Tomoyo Morita, Yuji Kawai, and Takato Horii for their help through useful discussions. ...
doi:10.1371/journal.pone.0182518
pmid:28796797
pmcid:PMC5552128
fatcat:olrvm7ozwvgmvh7uykldigilme
New Biological Morphogenetic Methods for Evolutionary Design of Robot Bodies
2020
Frontiers in Bioengineering and Biotechnology
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An approach is proposed for the tractable application of mutation-of-mutability and morphogenetic mechanisms in evolutionary robotics. ...
The purpose of these methods, is to facilitate production of robot mechanisms of the subtlety, efficiency, and efficacy of the musculoskeletal and dermal systems of animals. ...
ACKNOWLEDGMENTS The authors thank Geoff Nitschke, of the University of Cape Town, South Africa, for feedback on drafts of this article. ...
doi:10.3389/fbioe.2020.00621
pmid:32637404
pmcid:PMC7317032
fatcat:yi3hy6zu4jhllhuum7wwtb3ieq
Synergistic control of a multi-segments vertebral column robot based on tensegrity for postural balance
2018
Advanced Robotics
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We discuss then about our neural architecture to model motor synergies for compliance control and also about tensegrity structures for soft robotics. ...
We present a neuronal architecture to control a compliant robotic model of the human vertebral column for postural balance. ...
We would like to thank Ihor Kuras for his help on this project.
Disclosure statement No potential con ict of interest was reported by the authors. ...
doi:10.1080/01691864.2018.1483209
fatcat:rpbgoxgq6nfbdewotpqmb2xfpu
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