ELFT HÍRADÓ

[StatFizSzeminar <statfiz AT glu.elte.hu>]

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                ELTE TTK Fizikai Intézet
            STATISZTIKUS FIZIKAI SZEMINÁRIUM


                    2017. április 12.
                     szerda, 11 óra

                     Sándor Bulcsú

           Institute for Theoretical Physics
                   Goethe University

       "A dynamical systems approach to robotics: 
          the role of attractors in locomotion"


The ultimate goal in robotic locomotion is designing and 
constructing robots which are able to navigate and transport
themselves autonomously from place to place. Robots, situated
in an environment, need hence to interact with the external 
world via their own body and incorporate the feedback in a 
closed-loop control scheme. Following the recently emerged 
"robophysics" approach to locomotion, we investigate simple 
rolling robots within the LPZRobots simulation environment.
The "brain" of the considered robots consists of a single, 
respectively three propriceptual neurons, receiving sensory 
information only about the position of the actuators. 
The proposed minimal control mechanism allows for a 
self-organized generation of motion patterns as stable limit 
cycles or chaotic attractors in the overarching phase space of 
the brain, body, and environment. The interactions with obstacles
or other agents can hence be interpreted, in terms of dynamical 
systems theory, as switching between coexisting attractors or 
attractor ruins. We argue that this dynamical systems approach 
may contribute both to the general understanding of locomotion 
and to the design of learnable autonomous agents.


     1117, Budapest, Pázmány P. sétány 1/A, Északi tömb 2.54
                honlap: http://glu.elte.hu/~statfiz

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