Adaptivity through physical immaturity

Lungarella, Max and Berthouze, Luc (2002) Adaptivity through physical immaturity. In: 2nd International Workshop on Epigenetic Robotics, Edinburgh.

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Abstract

Given 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.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Luc Berthouze
Date Deposited: 06 Feb 2012 18:39
Last Modified: 12 Apr 2012 10:45
URI: http://sro.sussex.ac.uk/id/eprint/17606
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