A Developmental Organization for Robot Behavior

Abstract

This paper focuses on exploring how learning and development can be structured in synthetic (robot) systems. We present a developmental assembler for constructing reusable and temporally extended actions in a sequence. The discussion adopts the traditions of dynamic pattern theory in which behavior is an artifact of coupled dynamical systems with a number of controllable degrees of freedom. In our model, the events that delineate control decisions are derived from the pattern of (dis)equilibria on a working subset of sensorimotor policies. We show how this architecture can be used to accomplish sequential knowledge gathering and representation tasks and provide examples of the kind of developmental milestones that this approach has already produced in our lab.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA439094

Entities

People

  • Roderic A. Grupen

Organizations

  • University of Massachusetts Amherst

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Acquisition
  • Adaptive Systems
  • Automata Theory
  • Autonomous Navigation
  • Autonomous Systems
  • Body Regions
  • Computational Complexity
  • Computer Science
  • Detectors
  • Human-Robot Interaction
  • Locomotion
  • Mental Processes
  • Motion Planning
  • Nervous System
  • Robotics
  • Robots
  • Theses

Fields of Study

  • Computer science

Readers

  • Robotics and Automation.
  • Systems Analysis and Design
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control