Emergence of behavioral primitives in self-organizing control and composition of behavior for autonomous robots
© Martius and Herrmann; licensee BioMed Central Ltd. 2009
Published: 13 July 2009
Autonomous robots as well as animals process sensory information for the purpose of generating behaviors that are adapted to their respective environments. This includes the selection of behaviorally relevant perceptual features, the adaptation of control mechanisms and the storage and the recall of behavioral episodes for planning and execution. A robot as model of animal behavior should achieve sensorimotor control without being specifically programmed, but by exploring the behaviors that arise from the physical interaction between its body and the environment.
Efficient behavioral exploration can be obtained by the homeokinetic principle , a dynamical systems approach to robot control that establishes a self-tuned balance between sensitivity of actions to sensory inputs and predictability of the perceptual consequences of actions. The principle is effective in training artificial motor neurons to generate coherent movements that are suitable to explore the behavioral manifold . Simultaneously, internal representations of the robot dynamics are learned by associative memory networks in the robot, which then play the role of an efference copy.
Composing behavioral primitives
In conclusion, exploration of behavioral spaces by self-organizing control leads to the emergence of behavioral primitives that can be composed in order to generate complex goal-oriented behavior and can be used in motor planning.
The project was supported by the BCCN Göttingen grant #01GQ0432.
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