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--- abstract: '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.' altloc: - http://www.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS94/Lungarella.pdf chapter: ~ commentary: ~ commref: ~ confdates: 'August 10-11, 2002' conference: 'Second International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems' confloc: 'Edinburgh, Scotland' contact_email: ~ creators_id: [] creators_name: - family: Lungarella given: Max honourific: '' lineage: '' - family: Berthouze given: Luc honourific: '' lineage: '' date: 2002 date_type: published datestamp: 2003-10-04 department: ~ dir: disk0/00/00/25/16 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: - family: Prince given: Christopher G. honourific: '' lineage: '' - family: Demiris given: Yiannis honourific: '' lineage: '' - family: Marom given: Yuval honourific: '' lineage: '' - family: Kozima given: Hideki honourific: '' lineage: '' - family: Balkenius given: Christian honourific: '' lineage: '' eprint_status: archive eprintid: 2516 fileinfo: /style/images/fileicons/application_pdf.png;/2516/1/Lungarella.pdf full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: 'developmental robotics, embodiment, adaptive behavior, entrainment, incremental learning, sensory morphology' lastmod: 2011-03-11 08:55:03 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: ~ pagerange: 79-86 pubdom: TRUE publication: ~ publisher: Lund University Cognitive Studies refereed: TRUE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 12 series: ~ source: ~ status_changed: 2007-09-12 16:45:21 subjects: - comp-sci-mach-learn - comp-sci-neural-nets - comp-sci-art-intel - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: Adaptivity through Physical Immaturity type: confpaper userid: 3507 volume: 94