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Adaptivity through physical immaturity
conference contribution
posted on 2023-06-07, 20:52 authored by Max Lungarella, Luc BerthouzeLuc BerthouzeGiven a neural control structure, what would be the impact of body growth on control performance? This question, which addresses the issue of the interaction between innate structure, ongoing developing structure and experience, is very relevant to the field of epigenetic robotics. Much of the early social interaction is done as the body develops and the interplay cannot be ignored. We hypothesise that starting with fewer degrees of freedom enables a more efficient exploration of the sensorimotor space, that results in multiple directions of stability. While not necessarily corresponding to optimal task performance, they will guide the coordination of additional degrees of freedom. These additional degrees of freedom then allow for optimal task performance as well as for more tolerance and adaptation to environmental interaction. We propose a simple case-study to validate our hypothesis and describe experiments with a small humanoid robot.
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Publication status
- Published
Journal
Proceedings of the Second International Workshop on Epigenetic RoboticsPublisher
LUCS: LundPublisher URL
Pages
8.0Event name
2nd International Workshop on Epigenetic RoboticsEvent location
EdinburghEvent type
conferenceISBN
916312677XDepartment affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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