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- aggregation classification "A1".
- aggregation creator person.
- aggregation creator person.
- aggregation creator person.
- aggregation creator person.
- aggregation date "2013".
- aggregation format "application/pdf".
- aggregation hasFormat 2917079.bibtex.
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- aggregation isPartOf urn:issn:1064-5462.
- aggregation language "eng".
- aggregation rights "I have transferred the copyright for this publication to the publisher".
- aggregation subject "Technology and Engineering".
- aggregation title "Locomotion without a brain: physical reservoir computing in tensegrity structures".
- aggregation 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.".
- aggregation authorList BK1132717.
- aggregation endPage "66".
- aggregation issue "1".
- aggregation startPage "35".
- aggregation volume "19".
- aggregation aggregates 3048848.
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- aggregation similarTo artl_a_00080.
- aggregation similarTo LU-2917079.