File(s) not publicly available
Chaotic Search of Emergent Locomotion Patterns for a Bodily Coupled Robotic System
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 ef?cient 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.
History
Publication status
- Published
Publisher
MIT PressPages
10.0Presentation Type
- paper
Event name
Proc. Alife XIIEvent type
conferenceDepartment affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC