Towards a theoretical foundation for morphological computation with compliant bodies

• DOI: 10.1007/s00422-012-0471-0
• Publication Date: 2012-01-30T11:04:25Z
• Authors: Helmut Hauser; Auke J. Ijspeert; Rudolf M. Füchslin; Rolf Pfeifer; Wolfgang Maass
• Keywords: Maxima and minima; Complex system

The control of compliant robots is, due to their often nonlinear and complex dynamics, inherently difficult. vision morphological computation proposes view these aspects not only as problems, but rather also parts the solution. Non-rigid body are seen anymore imperfect realizations rigid parts, potential computational resources. applicability this has already been demonstrated for a variety robot problems. Nevertheless, theoretical basis understanding capabilities limitations missing so far. We present model with bodies, where precise mathematical characterization contribution physical is feasible. theory suggests that complexity nonlinearity, typically unwanted properties robots, desired features in order provide power. demonstrate simple generic models based on mass-spring systems, can be used implement operators. By adding readout (which static linear) morphology such devices able emulate mappings input output streams continuous time. Hence, by outsourcing body, difficult problem learning could reduced perspicuous task, which get stuck local minima an error function.