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2016


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Dynamical self-consistency leads to behavioral development and emergent social interactions in robots.

Der, R., Martius, G.

In Proc. IEEE Int. Conf. on Development and Learning and Epigenetic Robotics, pages: 49-56, IEEE, September 2016, in press (inproceedings)

DOI [BibTex]

2016

DOI [BibTex]


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Compliant control for soft robots: emergent behavior of a tendon driven anthropomorphic arm.

Martius, G., Hostettler, R., Knoll, A., Der, R.

In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 767-773, 2016 (inproceedings)

DOI [BibTex]

DOI [BibTex]


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Extrapolation and learning equations

Martius, G., Lampert, C. H.

2016, arXiv preprint \url{https://arxiv.org/abs/1610.02995} (misc)

Project Page [BibTex]

Project Page [BibTex]

2014


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Self-Exploration of the Stumpy Robot with Predictive Information Maximization

Martius, G., Jahn, L., Hauser, H., V. Hafner, V.

In Proc. From Animals to Animats, SAB 2014, 8575, pages: 32-42, LNCS, Springer, 2014 (inproceedings)

[BibTex]

2014

[BibTex]


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Robot Learning by Guided Self-Organization

Martius, G., Der, R., Herrmann, J. M.

In Guided Self-Organization: Inception, 9, pages: 223-260, Emergence, Complexity and Computation, Springer Berlin Heidelberg, 2014 (incollection)

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2012


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Variants of guided self-organization for robot control

Martius, G., Herrmann, J.

Theory in Biosci., 131(3):129-137, Springer Berlin / Heidelberg, 2012 (article)

link (url) DOI [BibTex]

2012

link (url) DOI [BibTex]


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The Playful Machine - Theoretical Foundation and Practical Realization of Self-Organizing Robots

Der, R., Martius, G.

Springer, Berlin Heidelberg, 2012 (book)

Abstract
Autonomous robots may become our closest companions in the near future. While the technology for physically building such machines is already available today, a problem lies in the generation of the behavior for such complex machines. Nature proposes a solution: young children and higher animals learn to master their complex brain-body systems by playing. Can this be an option for robots? How can a machine be playful? The book provides answers by developing a general principle---homeokinesis, the dynamical symbiosis between brain, body, and environment---that is shown to drive robots to self-determined, individual development in a playful and obviously embodiment-related way: a dog-like robot starts playing with a barrier, eventually jumping or climbing over it; a snakebot develops coiling and jumping modes; humanoids develop climbing behaviors when fallen into a pit, or engage in wrestling-like scenarios when encountering an opponent. The book also develops guided self-organization, a new method that helps to make the playful machines fit for fulfilling tasks in the real world.

link (url) [BibTex]