Adaptivity through Physical Immaturity

Lungarella, Max and Berthouze, Luc (2002) Adaptivity through Physical Immaturity. [Conference Paper]

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Given a neural control structure, what would be the impact of body growth on control performance? This question, which addresses the issue of the interaction between innate structure, ongoing developing structure and experience, is very relevant to the field of epigenetic robotics. Much of the early social interaction is done as the body develops and the interplay cannot be ignored. We hypothesize that starting with fewer degrees of freedom enables a more efficient exploration of the sensorimotor space, that results in multiple directions of stability. While not necessarily corresponding to optimal task performance, they will guide the coordination of additional degrees of freedom. These additional degrees of freedom then allow for optimal task performance as well as for more tolerance and adaptation to environmental interaction. We propose a simple case-study to validate our hypothesis and describe experiments with a small humanoid robot.

Item Type:Conference Paper
Keywords:developmental robotics, embodiment, adaptive behavior, entrainment, incremental learning, sensory morphology
Subjects:Computer Science > Machine Learning
Computer Science > Neural Nets
Computer Science > Artificial Intelligence
Computer Science > Robotics
ID Code:2516
Deposited By: Prince, Dr Christopher G.
Deposited On:04 Oct 2003
Last Modified:11 Mar 2011 08:55


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