Related papers: The sensorimotor loop as a dynamical system: How r…
Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this…
We examine the hypothesis, that short-term synaptic plasticity (STSP) may generate self-organized motor patterns. We simulated sphere-shaped autonomous robots, within the LPZRobots simulation package, containing three weights moving along…
Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…
Locomotion may be induced on three levels. On a classical level, actuators and limbs follow the sequence of open-loop top-down control signals they receive. Limbs may move alternatively on their own, which implies that interlimb…
We present self-organizing control principles for simulated robots actuated by synthetic muscles. Muscles correspond to linear motors exerting force only when contracting, but not when expanding, with joints being actuated by pairs of…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Active matter composed of energy-generating microscopic constituents is a promising platform to create autonomous functional materials. However, the very presence of these microscopic energy sources is what makes active matter prone to…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
We study discrete dynamical systems through the topological concepts of limit set, which consists of all points that can be reached arbitrarily late, and asymptotic set, which consists of all adhering values of orbits. In particular, we…
Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow them to perform complex tasks in a creative and versatile fashion. This observation has led researchers towards identifying…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
We study the asymptotic behaviour of a family of dynamic models of crawling locomotion, with the aim of characterizing a gait as a limit property. The locomotors, which might have a discrete or continuous body, move on a line with a…
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of…
We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
A system of particles with motility variable in terms of a vision-type of perception is here investigated by a combination of Langevin dynamics simulations in two-dimensional systems and an analytical approach based on conservation law…
In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free…