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. 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
more » ... ardware and the environment, the controller achieves a sensitive and body-specific actuation of the robot.
doi:10.3390/a2010398 fatcat:4ryyukgd7rcyhciyc3lfk66wly