Abstract
In this chapter we will introduce the concept of homeokinesis, formulate it in mathematical terms, and develop a first understanding of its functionality. The preceding chapter on homeostasis made clear that the objective of “keeping things under control” cannot lead to a system which has a drive of its own to explore its behavioral options in a self-determined manner. This is not surprising since the homeostatic objective drives the controller to minimize the future effects of unpredictable perturbations. This chapter uses a different objective, the so called time-loop error, derives learning rules by gradient descending that error and discusses first consequences of the new approach. Minimizing the time-loop error is shown to generate a dynamical entanglement between state and parameter dynamics that has been termed homeokinesis since it realizes a dynamical regime jointly involving the physical, the neural, and the synaptic dynamics of the brain-body system.
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© 2011 Springer-Verlag Berlin Heidelberg
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Der, R., Martius, G. (2011). A General Approach to Self-Organization — Homeokinesis. In: The Playful Machine. Cognitive Systems Monographs, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20253-7_5
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DOI: https://doi.org/10.1007/978-3-642-20253-7_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-20252-0
Online ISBN: 978-3-642-20253-7
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