Kick Control: Using the Attracting States Arising Within the Sensorimotor Loop of Self-Organized Robots as Motor Primitives.

ABSTRACT: Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body and environmental variables. Fixpoints, limit cycles and chaotic attractors correspond in this setting to a non-moving robot, to directed, and to irregular locomotion respectively. Short higher-order control commands may hence be used to kick the system from one self-organized attractor robustly into the basin of attraction of a different attractor, a concept termed here as kick control. The individual sensorimotor states serve in this context as highly compliant motor primitives. We study different implementations of kick control for the case of simulated and real-world wheeled robots, for which the dynamics of the distinct wheels is generated independe

SUBMITTER: Sandor B 

PROVIDER: S-EPMC6051224 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature