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

共 50 条

[21] Growth of highly oriented crystalline polyaniline films by self-organization
Sutar, D. S.
Padma, N.
Aswal, D. K.
Deshpande, S. K.
Gupta, S. K.
Yakhmi, J. V.
JOURNAL OF COLLOID AND INTERFACE SCIENCE, 2007, 313 (01) : 353 - 358
[22] Self-organization of macromolecules in novel TPU-clay nanocomposites
Mondal, Manas
Chattopadhyay, Pijush Kanti
Setua, D. K.
Das, N. C.
Chattopadhyay, S.
MULTI-FUNCTIONAL MATERIALS AND STRUCTURES III, PTS 1 AND 2, 2010, 123-125 : 435 - +
[23] Polymorphic Self-Organization of Lauroyl Peptide in Response to pH and Concentration
Novelli, Federica
Strofaldi, Alessandro
De Santis, Serena
Del Giudice, Alessandra
Casciardi, Stefano
Galantini, Luciano
Morosetti, Stefano
Pavel, Nicolae, V
Masci, Giancarlo
Scipioni, Anita
LANGMUIR, 2020, 36 (14) : 3941 - 3951
[24] Emergent coral reef patterning via spatial self-organization
Xi, Haiwei
Dong, Xiaoli
Chirayath, Ved
Gleason, Arthur C. R.
Purkis, Sam J.
CORAL REEFS, 2025, 44 (01) : 273 - 289
[25] Self-organization processes during deformation of nickel single crystals
Ekaterina, Alfyorova
Andrey, Filippov
MATERIALS CHARACTERIZATION, 2020, 159
[26] Self-Organization Initiated by Shear Flow of Mixtures of Polymer Melts
Gumennyi, I. V.
Malkin, A. Ya.
Kulichikhin, V. G.
POLYMER SCIENCE SERIES A, 2023, 65 (01) : 104 - 110
[27] Self-organization of amphiphilic block copolymers in the presence of water: A mesoscale simulation
Komarov, Pavel V.
Veselov, Igor N.
Khalatur, Pavel G.
CHEMICAL PHYSICS LETTERS, 2014, 605 : 22 - 27
[28] Self-organization of SiGe planar nanowires via anisotropic elastic field
Liu, Kailang
Berbezier, Isabelle
Favre, Luc
Ronda, Antoine
David, Thomas
Abbarchi, Marco
Gaillard, Philippe
Frisch, Thomas
Croset, Bernard
Aqua, Jeol-Noel
PHYSICAL REVIEW MATERIALS, 2019, 3 (02):
[29] Local pH oscillations witness autocatalytic self-organization of biomorphic nanostructures
Montalti, M.
Zhang, G.
Genovese, D.
Morales, J.
Kellermeier, M.
Garcia-Ruiz, J. M.
NATURE COMMUNICATIONS, 2017, 8
[30] Oxide Growth Efficiencies and Self-Organization of TiO2 Nanotubes
Albu, Sergiu P.
Taccardi, Nicola
Paramasivam, Indhu
Hebert, Kurt R.
Schmuki, Patrik
JOURNAL OF THE ELECTROCHEMICAL SOCIETY, 2012, 159 (08) : H697 - H703

← 1 2 3 4 5 →