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Embodied robots driven by self-organized environmental feedback

机译：自组织环境反馈驱动的体现型机器人

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摘要

Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by a single neuron. The robot is self-organized both on the level of the individual wheels and with respect to inter-wheel coordination, which arises exclusively from the mechanical coupling of the individual wheels and segments. For the individual wheel, the generating principle proposed results in locomotive states that correspond to self-organized limit cycles of the sensorimotor loop. Our robot interacts with the environment by monitoring the state of its actuators, that is, via propriosensation. External sensors are absent. In a structured environment the robot shows complex emergent behavior that includes pushing movable blocks around, reversing direction when hitting a wall, and turning when climbing a slope. On flat grounds the robot wiggles in a snake-like manner, when moving at higher velocities. We also investigate the emergence of motor primitives, namely, the route to locomotion, which is characterized by a series of local and global bifurcations in terms of dynamical system theory.
机译：自组织原理可能会导致哪种复杂行为？我们针对由被动耦合段组成的类蛇机器人的情况调查此问题，每个段都包含由单个神经元分别致动的两个轮子。机器人在各个车轮的水平上以及相对于车轮间的协调都是自组织的，这完全是由各个车轮和各段的机械耦合产生的。对于单个车轮，提出的产生原理导致了机车状态，该机车状态对应于感觉运动回路的自组织极限循环。我们的机器人通过监视执行器的状态（即感觉）来与环境互动。缺少外部传感器。在结构化的环境中，机器人表现出复杂的紧急行为，包括推动可移动块周围，撞墙时反转方向以及爬坡时转弯。在较高速度下移动时，机器人会在平坦的地面上以蛇状摆动。我们还研究了运动原语的出现，即运动路线，它以动力系统理论为特征，其特征是一系列局部和全局分叉。

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