Autonomous Learning
Article
2009
A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior
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 timescales 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 timescales. 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 hardware and the environment, the controller achieves a sensitive and body-specific actuation of the robot.
| Author(s): | Hesse, Frank and Martius, Georg and Der, Ralf and Herrmann, J. Michael |
| Journal: | Algorithms |
| Volume: | 2 |
| Number (issue): | 1 |
| Pages: | 398-409 |
| Year: | 2009 |
| BibTeX Type: | Article (article) |
| URL: | http://www.mdpi.com/1999-4893/2/1/398 |
| Electronic Archiving: | grant_archive |
BibTeX
@article{hesse:sensorbased09,
title = {A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior},
journal = {Algorithms},
abstract = {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 timescales 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 timescales. 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 hardware and the environment, the controller achieves a sensitive and body-specific actuation of the robot.},
volume = {2},
number = {1},
pages = {398-409},
year = {2009},
author = {Hesse, Frank and Martius, Georg and Der, Ralf and Herrmann, J. Michael},
url = {http://www.mdpi.com/1999-4893/2/1/398}
}