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.
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)
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. )
the maze 2
the maze 3
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.