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Incremental embodied chaotic exploration of self-organized motor behaviors with proprioceptor adaptation

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posted on 2023-06-08, 20:30 authored by Yoonsik Shim, Phil HusbandsPhil Husbands
This paper presents a general and fully dynamic embodied artificial neural system, which incrementally explores and learns motor behaviors through an integrated combination of chaotic search and reflex learning. The former uses adaptive bifurcation to exploit the intrinsic chaotic dynamics arising from neuro-body-environment interactions, while the latter is based around proprioceptor adaptation. The overall iterative search process formed from this combination is shown to have a close relationship to evolutionary methods. The architecture developed here allows realtime goal-directed exploration and learning of the possible motor patterns (e.g., for locomotion) of embodied systems of arbitrary morphology. Examples of its successful application to a simple biomechanical model, a simulated swimming robot, and a simulated quadruped robot are given. The tractability of the biomechanical systems allows detailed analysis of the overall dynamics of the search process. This analysis sheds light on the strong parallels with evolutionary search.

Funding

INSIGHT-II Darwinian Neurodynamics; G1087; EUROPEAN UNION; 308943

History

Publication status

  • Published

File Version

  • Published version

Journal

Frontiers in Robotics and AI

ISSN

2296-9144

Publisher

Frontiers

Issue

a7

Volume

2

Page range

1-20

Department affiliated with

  • Informatics Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2015-04-08

First Open Access (FOA) Date

2015-04-08

First Compliant Deposit (FCD) Date

2015-04-02

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