Algorithms 2009, 2(1), 398-409; doi:10.3390/a2010398
Article

A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior

Frank Hesse 1, 2, 3,* email, Georg Martius 1, 2,.3 email, Ralf Der 4 email and J. Michael Herrmann 1, 2, 5 email
1 Max-Planck-Institute for Dynamics and Self-Organization, Bunsenstrasse 10, 37073 Göttingen, Germany 2 Bernstein Center for Computational Neuroscience Göttingen, Bunsenstrasse 10, 37073 Göttingen, Germany 3 Institute for Nonlinear Dynamics, Georg-August-University Göttingen, Bunsenstrasse 10, 37073 Göttingen, Germany 4 Max-Planck-Institute for Mathematics in the Sciences, Inselstrasse 22, 04103 Leipzig, Germany 5 University of Edinburgh, School of Informatics, IPAB, 10 Crichton Street, Edinburgh, EH8 9AB, UK
* Author to whom correspondence should be addressed.
Received: 30 November 2008 / Accepted: 26 February 2009 / Published: 4 March 2009
(This article belongs to the Special Issue Neural Networks and Sensors)
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Abstract: Ideally, sensory information forms the only source of information to a robot. We consider an algorithm for the self-organization of a controller. At short time scales the controller is merely reactive but the parameter dynamics and the acquisition of knowledge by an internal model lead to seemingly purposeful behavior on longer time scales. As a paradigmatic example, we study the simulation of an underactuated snake-like robot. By interacting with the real physical system formed by the robotic hardware and the environment, the controller achieves a sensitive and body-specific actuation of the robot.
Keywords: Self-Organization; Autonomous Robot Control; Neural Networks; Homeokinesis

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MDPI and ACS Style

Hesse, F.; Martius, G.; Der, R.; Herrmann, J.M. A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior. Algorithms 2009, 2, 398-409.

AMA Style

Hesse F, Martius G, Der R, Herrmann JM. A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior. Algorithms. 2009; 2(1):398-409.

Chicago/Turabian Style

Hesse, Frank; Martius, Georg; Der, Ralf; Herrmann, J. Michael. 2009. "A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior." Algorithms 2, no. 1: 398-409.

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