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A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior
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. At short time scales the controller is merely reactive but the parameter dynamics and the acquisition of knowledge by an internal model lead to seemingly purposeful behavior on longer time scales. As a paradigmatic example, we study the simulation of an underactuated snake-like robot. By interacting with the real physical system formed by the robotic
doi:10.3390/a2010398
fatcat:4ryyukgd7rcyhciyc3lfk66wly