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From Animals to Animats 12: Using Sensorimotor Contingencies for Terrain Discrimination and Adaptive Walking Behavior in the Quadruped Robot Puppy


Hoffmann, Matej; Schmidt, Nico; Pfeifer, Rolf; Engel, Andreas K; Maye, Alexander (2012). From Animals to Animats 12: Using Sensorimotor Contingencies for Terrain Discrimination and Adaptive Walking Behavior in the Quadruped Robot Puppy. Berlin, Heidelberg: Springer Berlin Heidelberg.

Abstract

In conventional “sense-think-act” control architectures, perception is reduced to a passive collection of sensory information, followed by a mapping onto a prestructured internal world model. For biological agents, Sensorimotor Contingency Theory (SMCT) posits that perception is not an isolated processing step, but is constituted by knowing and exercising the law-like relations between actions and resulting changes in sensory stimulation. We present a computational model of SMCT for controlling the behavior of a quadruped robot running on different terrains. Our experimental study demonstrates that: (i) Sensory-Motor Contingencies (SMC) provide better discrimination capabilities of environmental properties than conventional recognition from the sensory signals alone; (ii) discrimination is further improved by considering the action context on a longer time scale; (iii) the robot can utilize this knowledge to adapt its behavior for maximizing its stability.

Abstract

In conventional “sense-think-act” control architectures, perception is reduced to a passive collection of sensory information, followed by a mapping onto a prestructured internal world model. For biological agents, Sensorimotor Contingency Theory (SMCT) posits that perception is not an isolated processing step, but is constituted by knowing and exercising the law-like relations between actions and resulting changes in sensory stimulation. We present a computational model of SMCT for controlling the behavior of a quadruped robot running on different terrains. Our experimental study demonstrates that: (i) Sensory-Motor Contingencies (SMC) provide better discrimination capabilities of environmental properties than conventional recognition from the sensory signals alone; (ii) discrimination is further improved by considering the action context on a longer time scale; (iii) the robot can utilize this knowledge to adapt its behavior for maximizing its stability.

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Additional indexing

Item Type:Monograph
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:2012
Deposited On:19 Dec 2013 15:17
Last Modified:06 Aug 2017 07:19
Publisher:Springer Berlin Heidelberg
Series Name:Lecture Notes in Computer Science
Volume:7426
Number of Pages:54
ISBN:978-3-642-33092-6 (P) 978-3-642-33093-3 (E)
Publisher DOI:https://doi.org/10.1007/978-3-642-33093-3_6
Other Identification Number:merlin-id:7618

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