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Self-Exploration of Autonomous Robots Using Attractor-Based Behavior Control and ABC-Learning
Manfred Hild, Matthias Kubisch
153 - 162
10.3233/978-1-60750-754-3-153
Frontiers in Artificial Intelligence and Applications
Volume 227: Eleventh Scandinavian Conference on Artificial Intelligence
Abstract

An autonomous robot which is equipped with sensorimotor loops and situated within a specific environment can be regarded as a dynamical system. By using Attractor-Based Behavior Control (ABC), the attractors of this dynamical system correspond to energy-efficient behavioral body postures, and the attractor-connecting heteroclinic orbits can be utilized to generate stable motion trajectories. We introduce ABC-Learning and demonstrate how it enables an autonomous robot to self-explore its behavioral capabilities from scratch and without any given body model.

$35.00 / €27.50 / £22.00
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