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Locomotion without a brain: physical reservoir computing in tensegrity structures

Ken Caluwaerts UGent, Michiel D'Haene UGent, David Verstraeten UGent and Benjamin Schrauwen UGent (2013) ARTIFICIAL LIFE. 19(1). p.35-66
abstract
Embodiment has led to a revolution in robotics by not thinking of the robot body and its controller as two separate units, but by taking into account the interaction of the body with its environment. By investigating the impact of the body on the overall control-computation, it has been suggested that the body is effectively performing computations, leading to the term Morphological Computation. Recent work has linked this to the field of Reservoir Computing, allowing to endow morphologies with a theory of universal computation. In this work, we study a family of highly dynamic body structures, specifically tensegrity structures, controlled by one of the simplest kinds of "brains". These structures can be used to model biomechanical systems at different scales. By analyzing this extreme instantiation of compliant structures, we demonstrate the existence of a spectrum of choices on how to implement control in the body-brain composite. We show that tensegrity structures can maintain complex gaits with linear feedback control and that external feedback can intrinsically be integrated in the control loop. The various linear learning rules we consider, differ in biological plausibility and no specific assumptions are made on how to implement the feedback in a physical system.
Please use this url to cite or link to this publication:
author
organization
year
type
journalArticle (original)
publication status
published
subject
keyword
C-ELEGANS, DYNAMICS, FLAGELLAR MOTOR, EMBODIED COGNITION, MORPHOLOGICAL COMPUTATION, NETWORK, REWARD, CAT, MECHANOTRANSDUCTION, COMMUNICATION, Morphological computation, reservoir computing, tensegrity, locomotion, central pattern generator, compliant robotics
journal title
ARTIFICIAL LIFE
volume
19
issue
1
pages
35 - 66
Web of Science type
Article
Web of Science id
000314069100003
JCR category
COMPUTER SCIENCE, THEORY & METHODS
JCR impact factor
1.93 (2013)
JCR rank
14/102 (2013)
JCR quartile
1 (2013)
ISSN
1064-5462
DOI
10.1162/artl_a_00080
language
English
UGent publication?
yes
classification
A1
copyright statement
I have transferred the copyright for this publication to the publisher
id
2917079
handle
http://hdl.handle.net/1854/LU-2917079
date created
2012-06-22 17:26:20
date last changed
2014-06-03 09:13:15
@article{2917079,
  abstract     = {Embodiment has led to a revolution in robotics by not thinking of the robot body and its controller as two separate units, but by taking into account the interaction of the body with its environment. By investigating the impact of the body on the overall control-computation, it has been suggested that the body is effectively performing computations, leading to the term Morphological Computation. Recent work has linked this to the field of Reservoir Computing, allowing to endow morphologies with a theory of universal computation. In this work, we study a family of highly dynamic body structures, specifically tensegrity structures, controlled by one of the simplest kinds of {\textacutedbl}brains{\textacutedbl}. These structures can be used to model biomechanical systems at different scales. By analyzing this extreme instantiation of compliant structures, we demonstrate the existence of a spectrum of choices on how to implement control in the body-brain composite. We show that tensegrity structures can maintain complex gaits with linear feedback control and that external feedback can intrinsically be integrated in the control loop. The various linear learning rules we consider, differ in biological plausibility and no specific assumptions are made on how to implement the feedback in a physical system.},
  author       = {Caluwaerts, Ken and D'Haene, Michiel and Verstraeten, David and Schrauwen, Benjamin},
  issn         = {1064-5462},
  journal      = {ARTIFICIAL LIFE},
  keyword      = {C-ELEGANS,DYNAMICS,FLAGELLAR MOTOR,EMBODIED COGNITION,MORPHOLOGICAL COMPUTATION,NETWORK,REWARD,CAT,MECHANOTRANSDUCTION,COMMUNICATION,Morphological computation,reservoir computing,tensegrity,locomotion,central pattern generator,compliant robotics},
  language     = {eng},
  number       = {1},
  pages        = {35--66},
  title        = {Locomotion without a brain: physical reservoir computing in tensegrity structures},
  url          = {http://dx.doi.org/10.1162/artl\_a\_00080},
  volume       = {19},
  year         = {2013},
}

Chicago
Caluwaerts, Ken, Michiel D’Haene, David Verstraeten, and Benjamin Schrauwen. 2013. “Locomotion Without a Brain: Physical Reservoir Computing in Tensegrity Structures.” Artificial Life 19 (1): 35–66.
APA
Caluwaerts, K., D’Haene, M., Verstraeten, D., & Schrauwen, B. (2013). Locomotion without a brain: physical reservoir computing in tensegrity structures. ARTIFICIAL LIFE, 19(1), 35–66.
Vancouver
1.
Caluwaerts K, D’Haene M, Verstraeten D, Schrauwen B. Locomotion without a brain: physical reservoir computing in tensegrity structures. ARTIFICIAL LIFE. 2013;19(1):35–66.
MLA
Caluwaerts, Ken, Michiel D’Haene, David Verstraeten, et al. “Locomotion Without a Brain: Physical Reservoir Computing in Tensegrity Structures.” ARTIFICIAL LIFE 19.1 (2013): 35–66. Print.