Variants of guided self-organization for robot control

Georg Martius, J. Michael Herrmann

Research output: Contribution to journalArticlepeer-review


Autonomous robots can generate exploratory behavior by self-organization of the sensorimotor loop. We show that the behavioral manifold that is covered in this way can be modified in a goal-dependent way without reducing the self-induced activity of the robot. We present three strategies for guided self-organization, namely by using external rewards, a problem-specific error function, or assumptions about the symmetries of the desired behavior. The strategies are analyzed for two different robots in a physically realistic simulation.
Original languageEnglish
Pages (from-to)129-137
Number of pages9
JournalTheory in Biosciences
Issue number3
Publication statusPublished - 2011

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