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AI in Locomotion: Challenges and Perspectives of Underactuated Robots

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50 Years of Artificial Intelligence

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4850))

Abstract

This article discusses the issues of adaptive autonomous navigation as a challenge of artificial intelligence. We argue that, in order to enhance the dexterity and adaptivity in robot navigation, we need to take into account the decentralized mechanisms which exploit physical system-environment interactions. In this paper, by introducing a few underactuated locomotion systems, we explain (1) how mechanical body structures are related to motor control in locomotion behavior, (2) how a simple computational control process can generate complex locomotion behavior, and (3) how a motor control architecture can exploit the body dynamics through a learning process. Based on the case studies, we discuss the challenges and perspectives toward a new framework of adaptive robot control.

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Author information

Authors and Affiliations

  1. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 32 Vassar Street, Cambridge, MA 02139, USA

    Fumiya Iida

  2. Artificial Intelligence Laboratory, Department of Informatics, University of Zurich, Andreasstrasse 15, CH-8050 Zurich, Switzerland

    Fumiya Iida & Rolf Pfeifer

  3. Locomotion Laboratory, University of Jena, Dornburger Strasse 23, D-07743 Jena, Germany

    André Seyfarth

Authors
  1. Fumiya Iida
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  2. Rolf Pfeifer
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  3. André Seyfarth
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Editor information

Max Lungarella Fumiya Iida Josh Bongard Rolf Pfeifer

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© 2007 Springer-Verlag Berlin Heidelberg

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Iida, F., Pfeifer, R., Seyfarth, A. (2007). AI in Locomotion: Challenges and Perspectives of Underactuated Robots. In: Lungarella, M., Iida, F., Bongard, J., Pfeifer, R. (eds) 50 Years of Artificial Intelligence. Lecture Notes in Computer Science(), vol 4850. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77296-5_13

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  • DOI: https://doi.org/10.1007/978-3-540-77296-5_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-77295-8

  • Online ISBN: 978-3-540-77296-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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