The playful machine: theoretical foundation and practical realization of self-organizing robots ; [extra materials]
Gespeichert in:
| Beteiligte Personen: | , |
|---|---|
| Format: | Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2011
|
| Schriftenreihe: | Cognitive systems monographs
15 |
| Schlagwörter: | |
| Links: | http://deposit.dnb.de/cgi-bin/dokserv?id=3681262&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024817670&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Beschreibung: | Literaturangaben |
| Umfang: | XX, 333 S. Ill., graph. Darst. |
| ISBN: | 9783662506332 9783642202520 3642202527 |
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IMAGE 1
CONTENTS
1 INTRODUCTION 1
2 SELF-ORGANIZATION IN NATURE AND MACHINES 9
2.1 SELF-ORGANIZATION - THE PHYSICAL PERSPECTIVE 10
2.1.1 PHASE TRANSITIONS 10
2.1.2 CONVECTION PATTERNS 10
2.1.3 REACTION-DIFFUSION SYSTEMS 13
2.1.4 EXAMPLES FROM BIOLOGY 14
2.2 SELF-ORGANIZATION IN MACHINES 16
2.2.1 SWARMS AND MULTI-ROBOT SYSTEMS 17
2.2.2 BEHAVIORAL SELF-ORGANIZATION 18
2.3 EXPLOITING SELF-ORGANIZATION FOR ROBOT CONTROL 2 0
2.3.1 MECHANISMS OF SELF-ORGANIZATION 20
2.3.2 SELF-ORGANIZATION O F ROBOT BEHAVIOR 20
3 THE SENSORIMOTOR LOOP 23
3.1 SENSORIMOTOR LOOP - THE GENERAL CASE 24
3.1.1 THE CONTROLLER 24
3.1.2 FORWARD MODEL AND SENSORIMOTOR DYNAMICS 25
3 . 2 DOMINATED BY EMBODIMENT: THE B A R R E L 2 7
3.2.1 PROPERTIES 28
3.2.2 OPEN LOOP CONTROL 28
3.2.3 " CLOSED LOOP CONTROL 30
3.3 ANALYZING THE LOOP 33
3.3.1 FEEDBACK STRENGTH 35
3.3.2 FIXED POINTS 36
3.3.3 DYNAMICS AS GRADIENT DESCENT 37
3.3.4 THE EFFECTIVE BIFURCATION POINT 38
3.3.5 EFFECTIVE BIFURCATION POINT AND EXPLORATIVE BEHAVIOR 41 3.4
EXTENDING THE PARAMETER SPACE 45
3.4.1 BIFURCATION SCENARIO 45
HTTP://D-NB.INFO/1010389610
IMAGE 2
X V I CONTENTS
3.4.2 APPLICATION: BIASING THE BEHAVIOR 47
3.5 EXPANDING THE BODY 48
3.6 REALIZATION BY NEURAL NETWORKS 5 0
3.6.1 RATE-CODING NEURON MODEL 50
3.6.2 SUPERVISED LEARNING 51
3.6.3 FEED-FORWARD NETWORKS 52
3.6.4 RECURRENT NETWORKS 53
3.7 SUMMARY 54
APPENDIX 3.A MATHEMATICAL DETAILS 55
3.A.1 STABILITY ANALYSIS 55
3.A.2 DETERMINING THE EFFECTIVE BIFURCATION POINT 56
4 PRINCIPLES OF SELF-REGULATION - HOMEOSTASIS 59
4.1 HISTORY AND DEVELOPMENT O F HOMEOSTASIS 60
4.1.1 ASHBY'S APPROACH 6 0
4.1.2 THE HOMEOSTAT 61
4.1.3 LEARNING HOMEOSTAT 63
4.1.4 RELATING TIME SCALES 63
4.2 SELF-REGULATION 64
4.2.1 FIRST IDEAS 64
4.2.2 LEARNING THE CONTROLLER FROM SPECIALIZED MODELS 66
4.2.3 HOMEOSTASIS: SELF-REGULATED STABILITY 68
4.2.4 CONCLUSIONS AND OUTLOOK 71
APPENDIX 4. A LEARNING A BEHAVIOR FROM ITS FORWARD MODEL 71
APPENDIX 4.B A BOOTSTRAPPING SCENARIO 73
5 A GENERAL APPROACH TO SELF-ORGANIZATION - HOMEOKINESIS 75
5.1 HOMEOKINESIS - INTRODUCTION 76
5.1.1 TIME-LOOP ERROR 76
5.1.2 DISCUSSION 80
5.1.3 STANDARD SETTING 80
5.1.4 LANDSCAPE O F THE TIME-LOOP ERROR 81
5.2 HOMEOKINETIC LEARNING 83
5.2.1 CANONICAL LEARNING RULE 84
5.2.2 EXPLICIT LEARNING RULES 85
5.2.3 SELF-ACTUALIZATION, ADAPTIVITY, AND SENSITIVITY - EXAMPLE 86 5 . 2
. 4 THE HOMEOKINETIC B A R R E L 8 8
5.3 KEY FEATURES O F HOMEOKINESIS 89
5.3.1 HOMEOKINESIS AS A SELF-REFERENTIAL DYNAMICAL SYSTEM . 9 0 5.3.2
SENSITIZATION - THE DRIVING FORCE O F HOMEOKINESIS 91
5.3.3 STATE-PARAMETER INTERPLAY 92
5.3.4 TEMPERATURE EFFECT 95
5.3.5 SYMMETRY GROUPS AS ATTRACTORS* 96
5.3.6 SPONTANEOUS SYMMETRY BREAKING 99
APPENDIX 5.A FORMALIZATIONS 99
IMAGE 3
CONTENTS X V I I
APPENDIX 5.B EFFECTIVE STATES 100
APPENDIX 5.C AVERAGE GRADIENT 101
APPENDIX 5.D REMARKS ON RECONSTRUCTION VS. POSTDICTION 103
APPENDIX 5.E DERIVATION OF EQ. (5.16) 103
APPENDIX 5.F DERIVATION OF EQS. (5.22, 5.23) 104
APPENDIX 5.G MOORE-PENROSE PSEUDOINVERSE 105
6 FROM FIXED-POINT FLOWS TO HYSTERESIS OSCILLATORS 1 0 7
6.1 TIME-LOOP ERROR IN ONE-DIMENSIONAL SYSTEMS 108
6.2 EXPLICIT LEARNING RULES AND FIXED POINT FLOWS 108
6.2.1 LEARNING RULE 109
6.2.2 LEARNING UNDER REAL WORLD CONDITIONS 110
6.2.3 RELATION TO THE EFFECTIVE BIFURCATION POINT* I L L
6.3 EXTENDING THE PARAMETER SPACE - THE HYSTERESIS OSCILLATOR 112 6.4
EMBODIMENT AND SITUATEDNESS - ROBOTIC EXPERIMENTS 115
6.4.1 WHEELED ROBOTS 115
6.4.2 SPONTANEOUS COOPERATION IN A CHAIN O F WHEELED ROBOTS 116 6 . 4 .
3 EMERGENT LOCOMOTION OF THE S L I D E R A R M B A N D 1 1 9
6.5 RELATION TO OTHER SYSTEMS 120
APPENDIX 6.A FIXED-POINT FLOW 122
APPENDIX 6.B TOWARDS THE EFFECTIVE BIFURCATION POINT 123
APPENDIX 6.C FREQUENCY O F HYSTERESIS OSCILLATIONS 124
7 SYMMETRIES, RESONANCES, AND SECOND ORDER HYSTERESIS 1 27
7.1 PROPERTIES OF THE TWO-DIMENSIONAL SENSORIMOTOR LOOP 127
7.1.1 TWO-DIMENSIONAL LOOP 127
7.1.2 BIFURCATION SCENARIO 128
7.1.3 PROPERTIES OF SO (2) DYNAMICS 129
7.1.4 THE EFFECT OF THE BIAS 131
7.2 HOMEOKINETIC LEARNING 131
7.2.1 STATE-PARAMETER DYNAMICS 132
7.2.2 OSCILLATORY BEHAVIOR 134
7.2.3 LOW FREQUENCY OSCILLATIONS 136
7.2.4 THEORY OF OSCILLATORY MODES* 139
7.3 SECOND ORDER HYSTERESIS 140
7.3.1 BIAS DYNAMICS AND SO (2) OSCILLATIONS 140
7.3.2 FREQUENCY SWEEPING AND HYSTERESIS IN FREQUENCY SPACE 142 7.3.3
FREQUENCY SWEEPING IN REAL SYSTEMS 143
7.3.4 FREQUENCY SWEEPING IN 3D 145
7.4 RESONANCES - A CASE FOR EMBODIMENT 146
APPENDIX 7.A PROPERTIES OF OSCILLATORY MODES 149
7.A.1 DERIVATION OF EQ. (7.16) 150
7.A.2 THE PERIOD-4 CYCLE 150
IMAGE 4
XVIII
CONTENTS
8 LOW DIMENSIONAL ROBOTIC SYSTEMS 153
8.1 S E M N I 1^4
8.1.1 CONSTRUCTION 154
8.1.2 EXPERIMENTS 1-56
8 . 2 S P H E R I C A L 1 6 2
8.2.1 CONSTRUCTION 162
8.2.2 SELF-EXPLORATION OF ROLLING MODES 163
8.2.3 SITUATEDNESS - HOW THE ENVIRONMENT SHAPES THE BEHAVIOR 165 8.2.4
SITUATEDNESS - ADAPTING TO THE ENVIRONMENT 167
8.3 S L I N G I N G S N A K E 168
8.3.1 CONSTRUCTION 169
8.3.2 EXPERIMENTS 170
8 . 4 R O C K I N G S T A M P E R 1 7 2
8.4.1 HARDWARE 173
8.4.2 EXPERIMENTS 175
8 . 5 B A R R E L 1 7 8
8.5.1 CREATIVITY IN NEW SITUATIONS 178
8 . 5 . 2 CREATIVITY USING THE REAL B A R R E L 1 8 0
8.6 SUMMARY 182
9 MODEL LEARNING 183
9.1 COGNITIVE DEPRIVATION AND INFORMATIVE ACTIONS 185
9.1.1 DEMONSTRATION BY THE T W O W H E E L E D 185
9.1.2 DEPRIVATION EFFECT 187
9.1.3 HOMEOKINETIC LEARNING AND BOOTSTRAPPING 188
9.1.4 PLANAR S N A K E 190
9.1.5 S P H E R I C A L ROBOT IN A BASIN 192
9.1.6 DISCUSSION 193
9.2 EXTENDING THE FORWARD MODEL 193
9.2.1 GETTING MISLED BY THE FORWARD MODEL 194
9.2.2 INCLUDING THE SENSOR BRANCH 195
9.2.3 AMBIGUITY O F THE EXTENDED MODEL 195
9.2.4 INCREASING AWARENESS OF CAUSALITY 196
9 . 2 . 5 EXPERIMENT WITH THE S P H E R I C A L ROBOT 1 9 7
9.3 SUMMARY 199
APPENDIX 9.A AMBIGUITIES IN THE SENSORIMOTOR LOOP 199
10 HIGH-DIMENSIONAL ROBOTIC SYSTEMS 2 0 1
10.1 UNDERACTUATED AND COMPLIANT 203
10.2 DOG A N D H L P P O D O G 2 0 7
1 0 . 3 H U M A N O I D 2 0 9
10.4 SNAKES - ADAPTATION AND SPONTANEITY 216
10.5 SELF-RESCUE SCENARIO 218
10.6 WORLD OF PLAYFUL MACHINES 219
10.7 DISCUSSION 220
IMAGE 5
CONTENTS X I X
11 FACING THE UNKNOWN - HOMEOKINESIS IN A NEW REPRESENTATION* . . . .
223
11.1 INTERACTION REPRESENTATION O F SENSORIMOTOR DYNAMICS 224
11.2 EXTENDING THE TIME HORIZON 226
11.2.1 PRELIMINARIES: ORBITS IN DYNAMICAL SYSTEMS 226
11.2.2 INTERACTION REPRESENTATION O F A TIME SERIES 228
11.2.3 RELATION TO THE TIME-LOOP ERROR 229
11.2.4 GENERAL MULTIPLE-STEP LEARNING RULE 230
11.3 HOMEOKINESIS AS A FLOW OF LYAPUNOV EXPONENTS 230
APPENDIX 1 L . A PROOF OF EQ. (11.13) 232
APPENDIX 11 .B DERIVATION O F THE INTERACTION REPRESENTATION 233
12 GUIDED SELF-ORGANIZATION - A FIRST REALIZATION 235
12.1 INTEGRATION O F PROBLEM SPECIFIC ERROR FUNCTIONS 236
12.2 GUIDANCE BY TEACHING 237
12.3 DIRECT MOTOR TEACHING 238
12.3.1 EXPERIMENT 238
12.4 DIRECT SENSOR TEACHING AND DISTAL LEARNING 240
12.4.1 EXPERIMENT 241
13 CHANNELING SELF-ORGANIZATION 243
13.1 FROM SPONTANEOUS TO GUIDED SYMMETRY BREAKING 244
13.2 MULTIPLE MOTOR RELATIONS 246
13.2.1 GUIDING TOWARDS DIRECTED LOCOMOTION 246
13.2.2 SCALING PROPERTIES 250
13.3 SUMMARY 252
14 REWARD-DRIVEN SELF-ORGANIZATION 253
14.1 REINFORCING SPEED 254
14.2 REINFORCING SPIN 256
14.3 DISCUSSION 257
15 ALGORITHMIC IMPLEMENTATION 261
15.1 THE S O X ALGORITHM 261
15.1.1 EXTENSIONS AND CORRESPONDING META-PARAMETERS 263
15.1.2 PUTTING IT TOGETHER - THE UNIVERSAL LEARNING RULES 269 15.2
COOKBOOK FOR PLAYFUL MACHINES 271
15.2.1 TYPE O F ROBOTS - MECHANICAL SETUP 271
15.2.2 INITIALIZATION PROCEDURES - MOTOR BABBLING 272
15.2.3 CHOOSING THE META-PARAMETERS 273
15.2.4 PARAMETER RUNAWAYS - THE DARK SIDE 274
15.3 INCREASING INTERNAL COMPLEXITY 274
15.3.1 CONTROLLER ARCHITECTURE 275
15.3.2 LEARNING RULE 275
15.4 GENERALIZED PSEUDOINVERSE* 277
15.4.1 EXAMPLES 279
15.5 SIMPLIFIED ALGORITHMS 280
IMAGE 6
X X CONTENTS
15.5.1 AVOIDING MATRIX INVERSION 281
15.5.2 MATRIX INVERSION BY ITERATION 281
15.6 MOTOR-SPACE APPROACH 282
15.6.1 RECONSTRUCTING PREVIOUS MOTOR VALUES 283
15.6.2 LEARNING RULES 283
15.6.3 USING THE GENERALIZED PSEUDOINVERSE 284
APPENDIX 15.A LEARNING WITH GENERALIZED PSEUDOINVERSE 285
APPENDIX 15.B STABILITY O F THE GRADIENT DESCENT 286
15.B.1 REGULARIZATION O F G ' TERMS 287
APPENDIX 15.C LEARNING RULES FOR ARBITRARY NEURON TYPES 287
APPENDIX 15.D DERIVATION O F THE MULTILAYER LEARNING RULE 288
15.D.L ALGORITHMIC REALIZATION 290
1 6 THE L P Z R O B O T S SIMULATOR 293
16.1 STRUCTURE 294
16.2 CONTROLLER FRAMEWORK 294
16.3 MATRIX LIBRARY 295
16.4 PHYSICS SIMULATOR 296
16.4.1 RIGID BODY DYNAMICS - OPEN DYNAMICS ENGINE 297
16.4.2 EFFICIENT COLLISION DETECTION 298
16.4.3 MATERIAL AND SURFACE PROPERTIES 298
16.4.4 MOTORS AND SENSORS 301
16.4.5 USER INTERACTION 303
16.4.6 CREATING THE VIRTUAL WORLD 304
16.5 HIGHLIGHTS 307
16.6 SUMMARY 308
16.6.1 CREDITS 308
17 DISCUSSION AND PERSPECTIVES 309
LIST O F FIGURES 313
LIST O F VIDEOS 317
LIST OF EXPERIMENTS 319
REFERENCES ^ 321
INDEX 331 |
| any_adam_object | 1 |
| author | Der, Ralf Martius, Georg |
| author_facet | Der, Ralf Martius, Georg |
| author_role | aut aut |
| author_sort | Der, Ralf |
| author_variant | r d rd g m gm |
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| dewey-full | 629.89263 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.89263 |
| dewey-search | 629.89263 |
| dewey-sort | 3629.89263 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV039959909 |
| illustrated | Illustrated |
| indexdate | 2025-01-20T17:01:18Z |
| institution | BVB |
| isbn | 9783662506332 9783642202520 3642202527 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-024817670 |
| oclc_num | 802342961 |
| open_access_boolean | |
| owner | DE-11 DE-91 DE-BY-TUM |
| owner_facet | DE-11 DE-91 DE-BY-TUM |
| physical | XX, 333 S. Ill., graph. Darst. |
| publishDate | 2011 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | Springer |
| record_format | marc |
| series | Cognitive systems monographs |
| series2 | Cognitive systems monographs |
| spellingShingle | Der, Ralf Martius, Georg The playful machine theoretical foundation and practical realization of self-organizing robots ; [extra materials] Cognitive systems monographs Rückkopplung (DE-588)4050851-1 gnd Embodiment (DE-588)7627636-3 gnd Autonomer Roboter (DE-588)4304075-5 gnd Computersimulation (DE-588)4148259-1 gnd Bahnplanung (DE-588)4267628-9 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd Selbst organisierendes System (DE-588)4054424-2 gnd |
| subject_GND | (DE-588)4050851-1 (DE-588)7627636-3 (DE-588)4304075-5 (DE-588)4148259-1 (DE-588)4267628-9 (DE-588)4193754-5 (DE-588)4211191-2 (DE-588)4054424-2 |
| title | The playful machine theoretical foundation and practical realization of self-organizing robots ; [extra materials] |
| title_auth | The playful machine theoretical foundation and practical realization of self-organizing robots ; [extra materials] |
| title_exact_search | The playful machine theoretical foundation and practical realization of self-organizing robots ; [extra materials] |
| title_full | The playful machine theoretical foundation and practical realization of self-organizing robots ; [extra materials] Ralf Der and Georg Martius. Foreword by Rolf Pfeifer |
| title_fullStr | The playful machine theoretical foundation and practical realization of self-organizing robots ; [extra materials] Ralf Der and Georg Martius. Foreword by Rolf Pfeifer |
| title_full_unstemmed | The playful machine theoretical foundation and practical realization of self-organizing robots ; [extra materials] Ralf Der and Georg Martius. Foreword by Rolf Pfeifer |
| title_short | The playful machine |
| title_sort | the playful machine theoretical foundation and practical realization of self organizing robots extra materials |
| title_sub | theoretical foundation and practical realization of self-organizing robots ; [extra materials] |
| topic | Rückkopplung (DE-588)4050851-1 gnd Embodiment (DE-588)7627636-3 gnd Autonomer Roboter (DE-588)4304075-5 gnd Computersimulation (DE-588)4148259-1 gnd Bahnplanung (DE-588)4267628-9 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd Selbst organisierendes System (DE-588)4054424-2 gnd |
| topic_facet | Rückkopplung Embodiment Autonomer Roboter Computersimulation Bahnplanung Maschinelles Lernen Automatische Handlungsplanung Selbst organisierendes System |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=3681262&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024817670&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV035296331 |
| work_keys_str_mv | AT derralf theplayfulmachinetheoreticalfoundationandpracticalrealizationofselforganizingrobotsextramaterials AT martiusgeorg theplayfulmachinetheoreticalfoundationandpracticalrealizationofselforganizingrobotsextramaterials |
Inhaltsverzeichnis
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Teilbibliothek Stammgelände
| Signatur: |
0002 DAT 815f 2012 A 5268
Lageplan |
|---|---|
| Exemplar 1 | Ausleihbar Am Standort |