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
收藏
页码：129 / 137
页数：9
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