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Title: The role of feedback in morphological computation with compliant bodies
Authors : Hauser, Helmut
Ijspeert, Auke J.
Füchslin, Rudolf Marcel
Pfeifer, Rolf
Maass, Wolfgang
Published in : Biological Cybernetics
Volume(Issue) : 106
Issue : 10
Pages : 595
Pages to: 613
Publisher / Ed. Institution : Springer
Issue Date: 2012
License (according to publishing contract) : Licence according to publishing contract
Type of review: Peer review (Publication)
Language : English
Subjects : Morphological computation; Nonlinear system; Limit cycles; Compliant robots
Subject (DDC) : 005: Computer programming, programs and data
Abstract: The generation of robust periodic movements of complex nonlinear robotic systems is inherently difficult, especially, if parts of the robots are compliant. It has previously been proposed that complex nonlinear features of a robot, similarly as in biological organisms, might possibly facilitate its control. This bold hypothesis, commonly referred to as morphological computation, has recently received some theoretical support by Hauser et al. (Biol Cybern 105:355–370, doi: 10.1007/s00422-012-0471-0, 2012). We show in this article that this theoretical support can be extended to cover not only the case of fading memory responses to external signals, but also the essential case of autonomous generation of adaptive periodic patterns, as, e.g., needed for locomotion. The theory predicts that feedback into the morphological computing system is necessary and sufficient for such tasks, for which a fading memory is insufficient. We demonstrate the viability of this theoretical analysis through computer simulations of complex nonlinear mass–spring systems that are trained to generate a large diversity of periodic movements by adapting the weights of a simple linear feedback device. Hence, the results of this article substantially enlarge the theoretically tractable application domain of morphological computation in robotics, and also provide new paradigms for understanding control principles of biological organisms.
Further description : Erworben im Rahmen der Schweizer Nationallizenzen (
Departement: School of Engineering
Publication type: Article in scientific Journal
DOI : 10.1007/s00422-012-0516-4
ISSN: 0340-1200
Restricted until : 2018-01-01
Appears in Collections:Publikationen School of Engineering

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