Abstract
The paper presents a method to guide the self-organised development of behaviours of autonomous robots. In earlier publications we demonstrated how to use the homeokinesis principle and dynamical systems theory to obtain self-organised playful but goal-free behaviour. Now we extend this framework by reinforcement signals. We validate the mechanisms with two experiment with a spherical robot. The first experiment aims at fast motion, where the robot reaches on average about twice the speed of a not reinforcement robot. In the second experiment spinning motion is rewarded and we demonstrate that the robot successfully develops pirouettes and curved motion which only rarely occur among the natural behaviours of the robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Neal, M., Timmis, J.: Once More Unto the Breach: Towards Artificial Homeostasis?. In: Castro, L.N.D., Zuben, F.J.V. (eds.) Recent Developments in Biologically Inspired Computing, pp. 340–365. Idea Group, Hershey (January 2005), http://www.cs.kent.ac.uk/pubs/2005/1948
Di Paolo, E.: Organismically-inspired robotics: Homeostatic adaptation and natural teleology beyond the closed sensorimotor loop. In: Murase, K., Asakura, T. (eds.) Dynamical Systems Approach to Embodiment and Sociality, pp. 19–42. Advanced Knowledge International, Adelaide (2003)
Der, R.: Self-organized acquisition of situated behavior. Theory Biosci. 120, 179–187 (2001)
Der, R., Steinmetz, U., Pasemann, F.: Homeokinesis - a new principle to back up evolution with learning. In: Computational Intelligence for Modelling, Control, and Automation. Concurrent Systems Engineering Series, vol. 55, pp. 43–47. IOS Press, Amsterdam (1999)
Der, R., Liebscher, R.: True autonomy from self-organized adaptivity. In: Proc. Workshop Biologically Inspired Robotics, Bristol (2002)
Der, R., Herrmann, M., Liebscher, R.: Homeokinetic approach to autonomous learning in mobile robots. In: Dillman, R., Schraft, R.D., Wörn, H. (eds.) Robotik 2002. VDI-Berichte, vol. 1679, pp. 301–306 (2002)
Der, R., Hesse, F., Martius, G.: Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life. Adaptive Behavior 14(2), 105–115 (2006), doi:10.1177/105971230601400202
Der, R., Martius, G., Hesse, F.: Let it roll – emerging sensorimotor coordination in a spherical robot. In: Rocha, L.M., Yaeger, L.S., et al. (eds.) Artificial Life X: Proc. X Int. Conf. on the Simulation and Synthesis of Living Systems, August 2006, pp. 192–198. MIT Press, Cambridge (2006)
Der, R., Martius, G., Hesse, F.: Videos of self-organized creatures (2007), http://robot.informatik.uni-leipzig.de/research/videos
Der, R., Martius, G.: From motor babbling to purposive actions: Emerging self-exploration in a dynamical systems approach to early robot development. In: Nolfi, S., Baldassarre, G., Calabretta, R., Hallam, J.C.T., Marocco, D., Meyer, J.-A., Miglino, O., Parisi, D. (eds.) SAB 2006. LNCS (LNAI), vol. 4095, pp. 406–421. Springer, Heidelberg (2006)
Stout, A., Konidaris, G., Barto, A.: Intrinsically motivated reinforcement learning: A promising framework for developmental robotics. In: The AAAI Spring Symposium on Developmental Robotics, AAAI, Menlo Park (2005)
Oudeyer, P-Y., Kaplan, F., Hafner, V.V., Whyte, A.: The playground experiment: Task-independent development of a curious robot. In: Bank, D., Meeden, L. (eds.) Proceedings of the AAAI Spring Symposium on Developmental Robotics, Stanford, California, pp. 42–47. AAAI, Menlo Park (2005)
Schmidhuber, J.: Completely self-referential optimal reinforcement learners. In: ICANN (2), pp. 223–233 (2005)
Popp, J.: Sphericalrobots (2004), http://www.sphericalrobots.com
Smith, R.: Open dynamics engine (2005), http://ode.org/
Martius, G., Der, R., Hesse, F., Güttler, F.: Leipzig robot simulator (2006), http://robot.informatik.uni-leipzig.de/software
Hamed, N.: Self-Referential Dynamical Systems and Developmental Robotics. PhD thesis, University of Leipzig (In preparation, 2006)
Lungarella, M., Metta, G., Pfeifer, R., Sandini, G.: Developmental robotics: a survey. Connect. Sci. 15(4), 151–190 (2003)
Weng, J., McClelland, J., Pentland, A., Sporns, O., Stockman, I., Sur, M., Thelen, E.: Autonomous mental development by robots and animals. Science 291, 599 (2001)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Martius, G., Herrmann, J.M., Der, R. (2007). Guided Self-organisation for Autonomous Robot Development. In: Almeida e Costa, F., Rocha, L.M., Costa, E., Harvey, I., Coutinho, A. (eds) Advances in Artificial Life. ECAL 2007. Lecture Notes in Computer Science(), vol 4648. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74913-4_77
Download citation
DOI: https://doi.org/10.1007/978-3-540-74913-4_77
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74912-7
Online ISBN: 978-3-540-74913-4
eBook Packages: Computer ScienceComputer Science (R0)