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3 results (View BibTeX file of all listed publications)

2007

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Guided Self-organisation for Autonomous Robot Development

Martius, G., Herrmann, J. M., Der, R.

In Advances in Artificial Life 9th European Conference, ECAL 2007, 4648, pages: 766-775, LNCS, Springer, 2007 (inproceedings)

al

[BibTex]

2007

al Martius, G., Herrmann, J. M., Der, R. Guided Self-organisation for Autonomous Robot Development In Advances in Artificial Life 9th European Conference, ECAL 2007, 4648, pages: 766-775, LNCS, Springer, 2007 (inproceedings)

[BibTex]

2006

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Let It Roll – Emerging Sensorimotor Coordination in a Spherical Robot

Der, R., Martius, G., Hesse, F.

In Proc, Artificial Life X, pages: 192-198, Intl. Society for Artificial Life, MIT Press, August 2006 (inproceedings)

al

[BibTex]

2006

al Der, R., Martius, G., Hesse, F. Let It Roll – Emerging Sensorimotor Coordination in a Spherical Robot In Proc, Artificial Life X, pages: 192-198, Intl. Society for Artificial Life, MIT Press, August 2006 (inproceedings)

[BibTex]

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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development

Der, R., Martius, G.

In Proc. From Animals to Animats 9, SAB 2006, 4095, pages: 406-421, LNCS, Springer, 2006 (inproceedings)

Abstract
Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. This is not only because systems become more lifelike, but also since self-organization may help in reducing the design efforts in creating complex behavior systems. The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. This is a step towards autonomous early robot development. We consider agents under the close sensorimotor coupling paradigm with a certain cognitive ability realized by an internal forward model. Starting from tabula rasa initial conditions we overcome the bootstrapping problem and show emerging self-exploration. Apart from that, we analyze the effect of limited actions, which lead to deprivation of the world model. We show that our paradigm explicitly avoids this by producing purposive actions in a natural way. Examples are given using a simulated simple wheeled robot and a spherical robot driven by shifting internal masses.

al

[BibTex]

al Der, R., Martius, G. From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development In Proc. From Animals to Animats 9, SAB 2006, 4095, pages: 406-421, LNCS, Springer, 2006 (inproceedings)

[BibTex]