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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development

2006

Conference Paper

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Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. This is not only because systems become more lifelike, but also since self-organization may help in reducing the design efforts in creating complex behavior systems. The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. This is a step towards autonomous early robot development. We consider agents under the close sensorimotor coupling paradigm with a certain cognitive ability realized by an internal forward model. Starting from tabula rasa initial conditions we overcome the bootstrapping problem and show emerging self-exploration. Apart from that, we analyze the effect of limited actions, which lead to deprivation of the world model. We show that our paradigm explicitly avoids this by producing purposive actions in a natural way. Examples are given using a simulated simple wheeled robot and a spherical robot driven by shifting internal masses.

Author(s): Der, Ralf and Martius, Georg
Book Title: Proc. From Animals to Animats 9, SAB 2006
Volume: 4095
Pages: 406-421
Year: 2006
Series: LNCS
Publisher: Springer

Department(s): Autonomous Learning
Bibtex Type: Conference Paper (inproceedings)

BibTex

@inproceedings{dermartius:babble06,
  title = {From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development},
  author = {Der, Ralf and Martius, Georg},
  booktitle = {Proc.\ From Animals to Animats 9, SAB 2006},
  volume = {4095},
  pages = {406-421},
  series = {LNCS},
  publisher = {Springer},
  year = {2006}
}