Emergence, Exploration and Learning of Embodied Behavior

13 years 9 months ago

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A novel model for dynamic emergence and adaptation of embodied behavior is proposed. A musculo-skeletal system is controlled by a number of chaotic elements, each of which driving a muscle based on local sensory feedback. Thus, the chaotic elements interact with each other through the physical body and the environment. This overall structure is modelled as a coupled chaotic system, which has been known in the complex systems science for its capability of creating and moving among extremely rich variety of ordered patterns. In our model, body-environment interaction dynamics, or embodiment, serves as the chaos coupling ﬁeld, which is non-linear and time-varying. Theoretically very little is known about such cases, but since the coupling ﬁeld directly reﬂects the current bodyenvironment dynamics, we believe that the emergent ordered patterns correspond to useful motor coordination patterns which immediately get reorganized in response to dynamically changing environmental situatio...

Yasuo Kuniyoshi, Shinsuke Suzuki, Shinji Sangawa

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