Variants of guided self-organization for robot control

被引：15

作者：

Martius, Georg ^{[1
,2
]}

Herrmann, J. Michael ^{[3
]}

机构：

[1] Bernstein Ctr Computat Neurosci, D-37073 Gottingen, Germany

[2] Max Planck Inst Dynam & Self Org, D-37073 Gottingen, Germany

[3] Univ Edinburgh, Sch Informat, Inst Percept Act & Behav, Edinburgh EH8 9AB, Midlothian, Scotland

来源：

THEORY IN BIOSCIENCES | 2012年 / 131卷 / 03期

关键词：

Guided self-organization; Autonomous robots; Homeokinesis; Machine learning; DYNAMICAL-SYSTEMS; MORPHOLOGY;

D O I：

10.1007/s12064-011-0141-0

中图分类号：

Q [生物科学];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

Autonomous robots can generate exploratory behavior by self-organization of the sensorimotor loop. We show that the behavioral manifold that is covered in this way can be modified in a goal-dependent way without reducing the self-induced activity of the robot. We present three strategies for guided self-organization, namely by using external rewards, a problem-specific error function, or assumptions about the symmetries of the desired behavior. The strategies are analyzed for two different robots in a physically realistic simulation.

引用

页码：129 / 137

页数：9

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