Dynamical systems in the sensorimotor loop: on the interrelation between internal and external mechanisms of evolved robot behavior

Authors:
Martin Hülse;Steffen Wischmann;Poramate Manoonpong;Arndt von Twickel;Frank Pasemann
Affiliations:
University of Wales, Aberystwyth, UK;BCCN, University of Göttingen, Germany;BCCN, University of Göttingen, Germany;University of Osnabrüuck, Germany;Fraunhofer IAIS, Sankt Augustin, Germany
Venue:
50 years of artificial intelligence
Year:
2007

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Abstract

This case study demonstrates how the synthesis and the analysis of minimal recurrent neural robot control provide insights into the exploration of embodiment. By using structural evolution, minimal recurrent neural networks of general type were evolved for behavior control. The small size of the neural structures facilitates thorough investigations of behavior relevant neural dynamics and how they relate to interactions of robots within the sensorimotor loop. We argue that a clarification of dynamical neural control mechanisms in a reasonable depth allows quantitative statements about the effects of the sensorimotor loop and suggests general qualitative implications about the embodiment of autonomous robots and biological systems as well.