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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  
We investigate the sensorimotor loop of simple robots simulated within the LPZRobots environment from the point of view of dynamical systems theory.  ...  The stability of the resulting rolling motions terminates generally, as a function of the control parameters, at points where fold bifurcations of limit cycles occur.  ...  ACKNOWLEDGMENTS We thank Georg Martius for extensive discussions and for helping setting up the LPZRobots simulation environment.  ... 
doi:10.3389/frobt.2015.00031 fatcat:wrrqyyvcoff75lhuhpbl4evora

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

Frederike Kubandt, Michael Nowak, Tim Koglin, Claudius Gros, Bulcsu Sandor
2019 arXiv   pre-print
For the individual wheel, the generating principle proposed results in locomotive states that correspond to self-organized limit cycles of the sensorimotor loop.  ...  Which kind of complex behavior may arise from self-organizing principles?  ...  Acknowledgments The support of the German Science Foundation (DFG) is acknowledged. Self-organized embodied robots  ... 
arXiv:1905.07153v1 fatcat:rzeawswjo5d6pe5yr6lg4h6aa4

Kick Control: Using the Attracting States Arising Within the Sensorimotor Loop of Self-Organized Robots as Motor Primitives

Bulcsú Sándor, Michael Nowak, Tim Koglin, Laura Martin, Claudius Gros
2018 Frontiers in Neurorobotics  
Short higher-order control commands may hence be used to kick the system from one self-organized attractor robustly into the basin of attraction of a different attractor, a concept termed here as kick  ...  Bumping against a wall destroys the limit cycle corresponding to forward motion, with the consequence that the dynamical variables are then attracted in phase space by the limit cycle corresponding to  ...  The work of BS was funded by the Content Pedagogy Research Program of the Hungarian Academy of Sciences.  ... 
doi:10.3389/fnbot.2018.00040 pmid:30050427 pmcid:PMC6051224 fatcat:ivsuwjfkrfa63gcbbhcqqxydai

Foundations for Understanding and Building Conscious Systems using Stable Parallel Looped Dynamics [article]

Muralidhar Ravuri
2011 arXiv   pre-print
A synthetic system built to satisfy this equivalent self-sustaining membrane condition appears indistinguishable from human consciousness.  ...  of a synthesis framework to build conscious systems and (c) a lack of mechanisms explaining the transition between the lower-level chemical dynamics and the higher-level abstractions.  ...  Acknowledgements I thank my wife Sridevi Ravuri for over ten years of discussions, comments and for the emotional support.  ... 
arXiv:1102.3680v2 fatcat:fw47klnpybdg3miro7ylnikos4

Gestures as image schemas and force gestalts: A dynamic systems approach augmented with motion-capture data analyses

Irene Mittelberg
2018 Cognitive Semiotics  
,Thompson and Varela) thus puts the focus on how image schemas and force gestalts that operate in gesture may function as cognitive-semiotic organizing principles that underpin a) the physical and cognitive  ...  Adopting a dynamic systems perspective (e.g.  ...  Special thanks also go to Marlon Meuters and Matthias Priesters for providing motion-capture analyses and plots as well as to Mary M. Copple for helpful feedback on the manuscript.  ... 
doi:10.1515/cogsem-2018-0002 fatcat:xjhjv2z4vbhmrg6z2dposiy7gm

A Survey of Artificial Cognitive Systems: Implications for the Autonomous Development of Mental Capabilities in Computational Agents

David Vernon, Giorgio Metta, Giulio Sandini
2007 IEEE Transactions on Evolutionary Computation  
We present a broad survey of the various paradigms of cognition, addressing cognitivist (physical symbol systems) approaches, emergent systems approaches, encompassing connectionist, dynamical, and enactive  ...  It does so based on a characterization of cognitive systems as systems which exhibit adaptive, anticipatory, and purposive goal-directed behavior.  ...  ACKNOWLEDGMENT The authors would like to acknowledge the many helpful comments of the two anonymous referees on earlier versions of this paper.  ... 
doi:10.1109/tevc.2006.890274 fatcat:s3ueaficnjbebkrfnend4ahpau

Symbol Emergence in Cognitive Developmental Systems: a Survey

Tadahiro Taniguchi, Emre Ugur, Matej Hoffmann, Lorenzo Jamone, Takayuki Nagai, Benjamin Rosman, Toshihiko Matsuka, Naoto Iwahashi, Erhan Oztop, Justus Piater, Florentin Worgotter
2018 IEEE Transactions on Cognitive and Developmental Systems  
This may appear to be a simple task.  ...  The symbol systems we use in our human society adaptively and dynamically change over time.  ...  ACKNOWLEDGMENT The authors would like to thank Dr. M. Tamosiunaite and H. Basgol for their critical comments on this paper.  ... 
doi:10.1109/tcds.2018.2867772 fatcat:7qglt3rxurhevia7ys3xdlym5i

Symbol Emergence in Cognitive Developmental Systems: a Survey [article]

Tadahiro Taniguchi, Emre Ugur, Matej Hoffmann, Lorenzo Jamone, Takayuki Nagai, Benjamin Rosman, Toshihiko Matsuka, Naoto Iwahashi, Erhan Oztop, Justus Piater, Florentin Wörgötter
2018 arXiv   pre-print
Furthermore, over the years, it became more and more clear that symbol emergence has to be regarded as a multifaceted problem.  ...  We first introduce the notion of a symbol in semiotics from the humanities, to leave the very narrow idea of symbols in symbolic AI.  ...  Micro-macro loop The bottom-up development assumed by PSS leads to the fact that such a PSS can be regarded as a self-organization process of multimodal sensorimotor information in our brain.  ... 
arXiv:1801.08829v2 fatcat:de6kxpbqkjhvdczzzhtxlxm6bq

When the goal is to generate a series of activities: A self-organized simulated robot arm [article]

Tim Koglin, Bulcsú Sándor, Claudius Gros
2019 arXiv   pre-print
We believe that our approach may be generalized to generate self-organized sequences of activities in general.  ...  We show that this behavior can be generated robustly when modeling the arm as an adaptive dynamical system. The dissipation function is in this approach time dependent.  ...  The attractors self-stabilizing in the sensorimotor loop may then give rise to complex patterns of regular and of chaotic motion primitives [15] , which can be selected in a second step using 'kick control  ... 
arXiv:1905.07235v1 fatcat:a3os6rsnvbgt5lvv6udcq73u2e

Contingency Perception and Agency Measure in Visuo-Motor Spiking Neural Networks

A. Pitti, H. Mori, S. Kouzuma, Y. Kuniyoshi
2009 IEEE Transactions on Autonomous Mental Development  
This suggests a basic stage representing the self in relation to others from low-level sensorimotor processes.  ...  His research interests include complex systems, emergence and development of embodied cognition, and human motion coordination.  ...  ACKNOWLEDGMENT The authors thank K. Kinjo, and H. Sugiyama for valuable discussions.  ... 
doi:10.1109/tamd.2009.2021506 fatcat:3nj7tgfeqje33pwavrjsqftchu

When the goal is to generate a series of activities: A self-organized simulated robot arm

Tim Koglin, Bulcsú Sándor, Claudius Gros, Dante R. Chialvo
2019 PLoS ONE  
We believe that our approach may be generalized to generate self-organized sequences of activities in general.  ...  We show that this behavior can be generated robustly when modeling the arm as an adaptive dynamical system. The dissipation function is in this approach time dependent.  ...  The attractors self-stabilizing in the sensorimotor loop may then give rise to complex patterns of regular and of chaotic motion primitives [15] , which can be selected in a second step using 'kick control  ... 
doi:10.1371/journal.pone.0217004 pmid:31216272 pmcid:PMC6584010 fatcat:3alm3u7cwzc3tcqumis3rykvh4

Self-Organized Behavior Generation for Musculoskeletal Robots

Ralf Der, Georg Martius
2017 Frontiers in Neurorobotics  
These phenomena are discussed from a specific dynamical system perspective.  ...  human muscle feelings are, how they can be rooted in sensorimotor patterns, and how these concepts may feed back on robotics.  ...  ACKNOWLEDGMENTS We thank Alois Knoll for inviting us to work with the Myorobotic arm-shoulder system at the TUM.  ... 
doi:10.3389/fnbot.2017.00008 pmid:28360852 pmcid:PMC5352682 fatcat:asizufjnlvbmrlpqqp4a56mi4e

A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior

Frank Hesse, Georg Martius, Ralf Der, J. Michael Herrmann
2009 Algorithms  
Ideally, sensory information forms the only source of information to a robot. We consider an algorithm for the self-organization of a controller.  ...  As a paradigmatic example, we study the simulation of an underactuated snake-like robot.  ...  Acknowledgments This work was supported by the BMBF in the framework of the Bernstein Centers for Computational Neuroscience, grant number 01GQ0432.  ... 
doi:10.3390/a2010398 fatcat:4ryyukgd7rcyhciyc3lfk66wly

Self-organized control for musculoskeletal robots [article]

Ralf Der, Georg Martius
2016 arXiv   pre-print
When applying this controller to a muscle-tendon driven arm-shoulder system from the Myorobotics toolkit, we observe a vast variety of self-organized behavior patterns: when left alone, the arm realizes  ...  This paper advocates for a new paradigm of self-organized control.  ...  Acknowledgement We thank Alois Knoll for inviting us to work with the Myorobotic arm-shoulder system at the TUM.  ... 
arXiv:1602.02990v2 fatcat:peafbej4j5fbpadldx6pxgl3ai

Bridging emotion theory and neurobiology through dynamic systems modeling

Marc D. Lewis
2005 Behavioral and Brain Sciences  
DS principles stipulate higher-order wholes emerging from lower-order constituents through bidirectional causal processes -offering a common language for psychological and neurobiological models.  ...  The outcomes of self-organization are fixed or periodic (or chaotic) organizational patterns, called attractors, that endure for some period of time.  ...  Self-organization refers to the spontaneous emergence of order from nonlinear interactions among the components of a complex dynamic system.  ... 
doi:10.1017/s0140525x0500004x fatcat:lrzxfupunjh7pl5slueiwyxmrm
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