Formalization of Embodied Sensorimotor Coupling System
Kohei Nakajima, Daniel M. Dubois · AIP conference proceedings · 2008
Theoretical conception of an active behavior of the system is one of the most challengeable topics in complex systems research. Recently, especially in the fields of robotics and artificial intelligence, there broadly exists the study to understand the interface between the system and its environment by creating an autonomous agent that carries a sensorimotor coupling. In this paper, an embodied sensorimotor coupling system is discussed. Applying a generative pointer, the system is formalized to contain an intrinsic discrepancy induced by heterarichical duality in a flow construction by using category theory. In the system, the body plays a positive role as a dynamical mediator, or interface, between two conflicting layers, a relational layers and a constituent layers. As a result, it induces a structural change of the system itself. Implementing the construction to a Braitenberg type vehicle, we observed dynamical changes of system parameters and its behavior revealed various motion patterns compared with the conventional sensorimotor coupling system.