Guided self-organisation for autonomous robot development

Authors:
Georg Martius;J. Michael Herrmann;Ralf Der
Affiliations:
Bernstein Center for Comp. Neurosci. Göttingen, Göttingen, Germany and Univ. of Göttingen, Inst. for Nonlinear Dynamics, Göttingen, Germany and Max Plank Inst. for Dynamics and ...;Bernstein Center for Comp. Neurosci. Göttingen, Göttingen, Germany and Univ. of Göttingen, Inst. for Nonlinear Dynamics, Göttingen, Germany and Max Plank Inst. for Dynamics and ...;University of Leipzig, Institute of Computer Science, Leipzig, Germany
Venue:
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Year:
2007

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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.