Towards a theoretical foundation for morphological computation with compliant bodies

Biological Cybernetics

Volumn 105, Issue 5-6, 2011, Pages 355-370

  Hauser, Helmut ^a   Ijspeert, Auke J ^c   Füchslin, Rudolf M ^a,b   Pfeifer, Rolf ^a   Maass, Wolfgang ^d  

^a UNIVERSITY OF ZURICH   (Switzerland)

^b ZURICH UNIVERSITY OF APPLIED SCIENCES   (Switzerland)

^c EPFL   (Switzerland)

^d GRAZ UNIVERSITY OF TECHNOLOGY   (Austria)

Author keywords

Analog computation; Embodiment; Morphological computation; Nonlinear mass spring systems; Volterra series

Indexed keywords

ANALOG COMPUTATION; EMBODIMENT; MASS SPRING SYSTEMS; MORPHOLOGICAL COMPUTATION; VOLTERRA SERIES;

ANALOG COMPUTERS; MODELS; RIGID STRUCTURES; ROBOTS;

MATHEMATICAL MORPHOLOGY;

ARTIFICIAL NEURAL NETWORK; COMPUTER SIMULATION; HUMAN; LEARNING; NONLINEAR SYSTEM; ROBOTICS; THEORETICAL MODEL;

COMPUTER SIMULATION; HUMANS; LEARNING; MODELS, THEORETICAL; NEURAL NETWORKS (COMPUTER); NONLINEAR DYNAMICS; ROBOTICS;

EID: 84858078570     PISSN: 03401200     EISSN: 14320770     Source Type: Journal    
DOI: 10.1007/s00422-012-0471-0     Document Type: Article

References (27)

1. AF Atiya AG Parlos 2000 New results on recurrent network training: unifying the algorithms and accelerating convergence IEEE Trans Neural Networks 11 3 697 709 10.1109/72.846741 1:STN:280:DC%2BD1c%2FptFGntA%3D%3D
2. Bartlett PL, Maass W (2003) Vapnik-Chervonenkis dimension of neural nets. In: Arbib MA (eds) The handbook of brain theory and neural networks, 2nd edn. MIT Press, Cambridge, pp 1188-1192
3. Boyd S (1985) Volterra series: engineering fundamentals. PhD thesis, UC Berkeley
4. S Boyd L Chua 1985 Fading memory and the problem of approximating nonlinear operators with volterra series IEEE Trans Circuits Syst 32 11 1150 1161 10.1109/TCS.1985.1085649 (Pubitemid 16539237)
5. S Collins A Ruina R Tedrake M Wisse 2005 Efficient bipedal robots based on passive-dynamic walkers Science 307 1082 1085 15718465 10.1126/science. 1107799 1:CAS:528:DC%2BD2MXhtlSrtb0%3D (Pubitemid 40262108)
6. DP Ferris M Louie CT Farley 1998 Running in the real world: adjusting leg stiffness for different surfaces Proc Biol Sci 265 1400 989 994 9675909 10.1098/rspb.1998.0388 1:STN:280:DyaK1czktVGlsg%3D%3D (Pubitemid 28271728)
7. Hochreiter S, Schmidhuber J (1997) Long short-term memory. Neural Comput 9:1735-1780. ISSN 0899-7667 (Pubitemid 127462305)
8. K Hornik M Stinchcombe H White 1989 Multilayer feedforward networks are universal approximators Neural Networks 2 5 359 366 10.1016/0893-6080(89)90020-8 (Pubitemid 20609008)
9. F Iida R Pfeifer 2006 Sensing through body dynamics Robot Auton Syst 54 8 631 640 10.1016/j.robot.2006.03.005 (Pubitemid 44142956)
10. Khalil HK (2002) Nonlinear Systems, 3rd edn, Prentice Hall, Upper Saddle River
11. Legenstein R, Chase SA, Schwartz AB, Maass W (2010) Functional network reorganization in motor cortex can be explained by reward-modulated Hebbian learning. In: Proceedings of NIPS 2009: advances in neural information processing systems, vol 22. MIT Press, pp 1105-1113.
12. W Maass ED Sontag 2000 Neural systems as nonlinear filters. Neural Comput 12 8 1743 1772 10953237 10.1162/089976600300015123 1:STN:280: DC%2BD3cvisFKnuw%3D%3D
13. W Maass T Natschlaeger H Markram 2002 Real-time computing without stable states: A new framework for neural computation based on perturbations Neural Comput 14 11 2531 2560 12433288 10.1162/089976602760407955
14. McGeer T (1990) Passive dynamic walking. Int J Robot Res 9(2):62-82 ISSN 0278-3649 (Pubitemid 20683007)
15. Palm WJ III (1999) Modeling, analysis, and control of dynamic systems, 2nd edn. Wiley, New York. ISBN 0-471-07370-9
16. C Paul 2006 Morphological computation: a basis for the analysis of morphology and control requirements Robot Auton Syst 54 8 619 630 10.1016/j.robot.2006.03.003 (Pubitemid 44142955)
17. Paul C, Valero-Cuevas FJ, Lipson H (2006) Design and control of tensegrity robots for locomotion. IEEE Trans Robot 22(5):944-957. ISSN 1552-3098. doi: 10.1109/TRO.2006.878980 (Pubitemid 44604861)
18. Pfeifer R, Bongard JC (2007) How the body shapes the way we think. MIT Press, Cambridge. ISBN 0262162393
19. R Pfeifer M Lungarella F Iida 2007 Self-organization, embodiment, and biologically inspired robotics Science 318 1088 1093 18006736 10.1126/science.1145803 1:CAS:528:DC%2BD2sXht1ykurrJ (Pubitemid 350134861)
20. Shim Y, Husbands P (2007) Feathered flyer: integrating morphological computation and sensory reflexes into a physically simulated flapping-wing robot for robust flight manoeuvre. In: Almeida e Costa F et al (eds) ECAL. Springer, Berlin, pp 756-765
21. Slotine J-J E, Li J-J W (1991) Applied nonlinear control, 1st edn. Prentice Hall, Englewood Cliffs
22. Tedrake R, Zhang TW, Seung HS (2005) Learning to walk in 20 minutes. In: Proceedings of the fourteenth yale workshop on adaptive and learning systems. Yale University, New Haven, CT, 2005
23. Vapnik VN (1998) Statistical learning theory. Wiley, New York
24. Wiskott L, Sejnowski TJ (2002) Slow feature analysis: unsupervised learning of invariances. Neural Comput 14(4):715-770. ISSN 0899-7667
25. Wisse M, Van Frankenhuyzen J (2003) Design and construction of MIKE; a 2D autonomous biped based on passive dynamic walking. In: Proceedings of international symposium of adaptive motion and animals and machines (AMAM03)
26. Wood RJ (2007) Design, fabrication, and analysis of a 3DOF, 3cm flapping-wing MAV. IEEE/RSJ international conference on intelligent robots and systems, 2007. IROS 2007, 29 Oct-Nov 2 2007, pp 1576-1581. doi: 10.1109/IROS.2007.4399495
27. Ziegler M, Iida F, Pfeifer R (2006) "Cheap" underwater locomotion: roles of morphological properties and behavioural diversity. In: CLAWAR