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Self-Organized Behavior Generation for Musculoskeletal Robots

Ralf Der, Georg Martius
2017 Frontiers in Neurorobotics  
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

Yasunori Yamada, Satoshi Nishikawa, Kazuya Shida, Ryuma Niiyama, Yasuo Kuniyoshi
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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

Yasunori Yamada, Satoshi Nishikawa, Kazuya Shida, Ryuma Niiyama, Yasuo Kuniyoshi
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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

R. Pfeifer, M. Lungarella, F. Iida
2007 Science  
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

Shinya Aoi, Poramate Manoonpong, Yuichi Ambe, Fumitoshi Matsuno, Florentin Wörgötter
2017 Frontiers in Neurorobotics  
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

Poramate Manoonpong, Christian Tetzlaff
2018 Frontiers in Neurorobotics  
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

Rolf Pfeifer, Fumiya Iida, Max Lungarella
2014 Trends in Cognitive Sciences  
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]

Ralf Der, Georg Martius
2016 arXiv   pre-print
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]

Fumiya Iida, Simon Bovet
2009 Artificial Life Models in Hardware  
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

Qiang Lu, Juan Tian
2015 Mathematical Problems in Engineering  
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

Mariève Blanchet, Pierre Guertin, Francine Pilon, Philippe Gorce, François Prince
2021 Symmetry  
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

Benedikt Feldotto, Florian Walter, Florian Röhrbein, Alois Knoll
2018 Bioinspiration & Biomimetics  
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

Jihoon Park, Hiroki Mori, Yuji Okuyama, Minoru Asada, Zhong-Ke Gao
2017 PLoS ONE  
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

Nick Hockings, David Howard
2020 Frontiers in Bioengineering and Biotechnology  
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

Artem Melnyk, Alexandre Pitti
2018 Advanced Robotics  
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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