Shim, Yoonsik and Husbands, Phil (2010) Chaotic Search of Emergent Locomotion Patterns for a Bodily Coupled Robotic System. In: Proc. Alife XII.

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Abstract

We study a novel deterministic online process for the exploration and capture of possible locomotion patterns of a
simulated articulated robot with an arbitrary morphology in
an unknown physical environment. The robot controller is
modelled as a network of neural oscillators which are coupled indirectly through physical embodiment. Goal directed
exploration of coordinated motor patterns is achieved by a
chaotic search method using adaptive bifurcation. The phase
space of the indirectly coupled neural-body-environment system contains multiple phase-locked states each of which is a
candidate for driving efficient locomotion. By varying the
chaoticity of the system as a function of evaluation signal,
it is able to chaotically wander through various phase-locked
states and stabilise on one of the states matching the given
criteria. The nature of the weak coupling through physical
embodiment ensures that only physically stable locomotion
patterns emerge as coherent states, which implies the emergent pattern is well suited for open-loop control with little or no sensory inputs.

Item Type:	Conference or Workshop Item (Paper)
Schools and Departments:	School of Engineering and Informatics > Informatics
Depositing User:	Yoonsik Shim
Date Deposited:	06 Feb 2012 21:05
Last Modified:	13 Apr 2012 14:15
URI:	http://sro.sussex.ac.uk/id/eprint/29417

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