Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture
In this article we describe a new robot control architecture on the basis of self-organization of self-inhibiting modules. The architecture can generate a complex behaviour repertoire. The repertoire can be performance-enhanced or increased by modular poly-functionality and/or by addition of new mod...
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| Format: | Article |
| Language: | English |
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Wiley
2006-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1533/abbi.2005.0061 |
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| author | J. Negrete-Martínez |
| author_facet | J. Negrete-Martínez |
| author_sort | J. Negrete-Martínez |
| collection | DOAJ |
| description | In this article we describe a new robot control architecture on the basis of self-organization of self-inhibiting modules. The architecture can generate a complex behaviour repertoire. The repertoire can be performance-enhanced or increased by modular poly-functionality and/or by addition of new modules. This architecture is illustrated in a robot consisting of a car carrying an arm with a grasping tool. In the robot, each module drives either a joint motor or a pair of wheel motors. Every module estimates the distance from a sensor placed in the tool to a beacon. If the distance is smaller than a previously measured distance, the module drives its motor in the same direction of its prior movement. If the distance is larger, the next movement will be in the opposite direction; but, if the movement produces no significant change in distance, the module self-inhibits. A self-organization emerges: any module can be the next to take control of the motor activity of the robot once one module self-inhibits. A single module is active at a given time. The modules are implemented as computer procedures and their turn for participation scheduled by an endless program. The overall behaviour of the robot corresponds to a reaching attention behaviour. It is easily switched to a running-away attention behaviour by changing the sign of the same parameter in each module. The addition of a “sensor-gain attenuation reflex” module and of a “light-orientation reflex” module provides an increase of the behavioural attention repertoire and performance enhancement. Since scheduling a module does not necessarily produce its sustained intervention, the architecture of the “brain” is actually providing action induction rather than action selection. |
| format | Article |
| id | doaj-art-97f4a01255ef4a99a6c34902e6961af7 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2006-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-97f4a01255ef4a99a6c34902e6961af72025-02-03T01:20:46ZengWileyApplied Bionics and Biomechanics1176-23221754-21032006-01-0131232710.1533/abbi.2005.0061Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A ConjectureJ. Negrete-Martínez0Departamento de Biología Celular y Fisiología. IIBm. Unidad periférica en Xalapa, UNAM, and Facultad de Física e Inteligencia Artificial, UV, Calle Sebastián Camacho # 5, Colonia Centro 91000 Xalapa, Veracruz, MexicoIn this article we describe a new robot control architecture on the basis of self-organization of self-inhibiting modules. The architecture can generate a complex behaviour repertoire. The repertoire can be performance-enhanced or increased by modular poly-functionality and/or by addition of new modules. This architecture is illustrated in a robot consisting of a car carrying an arm with a grasping tool. In the robot, each module drives either a joint motor or a pair of wheel motors. Every module estimates the distance from a sensor placed in the tool to a beacon. If the distance is smaller than a previously measured distance, the module drives its motor in the same direction of its prior movement. If the distance is larger, the next movement will be in the opposite direction; but, if the movement produces no significant change in distance, the module self-inhibits. A self-organization emerges: any module can be the next to take control of the motor activity of the robot once one module self-inhibits. A single module is active at a given time. The modules are implemented as computer procedures and their turn for participation scheduled by an endless program. The overall behaviour of the robot corresponds to a reaching attention behaviour. It is easily switched to a running-away attention behaviour by changing the sign of the same parameter in each module. The addition of a “sensor-gain attenuation reflex” module and of a “light-orientation reflex” module provides an increase of the behavioural attention repertoire and performance enhancement. Since scheduling a module does not necessarily produce its sustained intervention, the architecture of the “brain” is actually providing action induction rather than action selection.http://dx.doi.org/10.1533/abbi.2005.0061 |
| spellingShingle | J. Negrete-Martínez Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture Applied Bionics and Biomechanics |
| title | Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture |
| title_full | Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture |
| title_fullStr | Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture |
| title_full_unstemmed | Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture |
| title_short | Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture |
| title_sort | self inhibiting modules can self organize as a brain of a robot a conjecture |
| url | http://dx.doi.org/10.1533/abbi.2005.0061 |
| work_keys_str_mv | AT jnegretemartinez selfinhibitingmodulescanselforganizeasabrainofarobotaconjecture |