Low Dimensional Robotic Systems

Abstract

In this chapter we will demonstrate the performance of the homeokinetic control system when applied to physical robots. We will recognize many of the effects observed in idealized world conditions, shown in the previous chapters, but most dominantly witness new features originating from the interaction of the learning dynamics with the respective embodiment. Among them are non-trivial sensorimotor coordination, excitation of resonance modes, the adaptation to different environments - all emerging from the unspecific homeokinetic learning rules. The entanglement effect is seen to make emerging motion patterns transient so that the behavioral options are explored and a playful behavior is observed. In order to keep things simple enough for analysis we consider here only low-dimensional systems and leave the high-dimensional ones for Chap. 10.