The self-organization of behavior

The behaviors demonstrated in the videos are emerging from the general principle of homeokinesis. A short demonstration of this principle is found in a talk emerging behavior for autonomous robots and in the recent papers

Der R., Hesse F., Liebscher R.: Contingent robot behavior from self-referential dynamical systems.. Autonomous robots, submitted (2005)

Der R., Hesse F., Martius, G.: Rocking stumper and jumping snake from a dynamical systems approach to artificial life.

Video: Our zoo - The world of self-organized beings

Videos - Rocking stumper and jumping snake:

Stumper: Behavior 1,(mpeg2: 20MB) (DivX: 9MB); Stumper: Behavior 2, (mpeg2: 26MB) (DivX:11.5 MB)

Demonstration sensor control 1, (mpeg2: 14.4 MB) (DivX: 6.6 MB) Demonstration sensor control 2 , (mpeg2: 34.5MB) (DivX: 15.8 MB)

Jumping snake:

A preliminary example here

Videos - Wheeled robot:

Playing ball (The robot uses both the wheel sensors and the camera as inputs for the controller. The camera output was preprocessed to extract the velocity components of the ball in the camera plane)
In the maze 1 (Here and in the following videos the robot uses only its wheel sensors as inputs for the controller. Colissions are "felt" by the fact that the model of the sensorimotor loop is violated. Large model errors produce faster changes of behavior. In free space the model error is small so that the behavior persists over longer times. )
In the maze 2
In the maze 3
In the maze 4

Arms and snakes

Sensor values are the angular velocities at the joints, controls are the target angular velocities. Publication in progress. General theory in Contingent robot behavior from self-referential dynamical systems Sec. 3.

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