Resilient Machines Through Continuous Self-Modeling Export

@article{citeulike:1269262, abstract = {Animals sustain the ability to operate after injury by creating qualitatively different compensatory behaviors. Although such robustness would be desirable in engineered systems, most machines fail in the face of unexpected damage. We describe a robot that can recover from such change autonomously, through continuous self-modeling. A four-legged machine uses actuation-sensation relationships to indirectly infer its own structure, and it then uses this self-model to generate forward locomotion. When a leg part is removed, it adapts the self-models, leading to the generation of alternative gaits. This concept may help develop more robust machines and shed light on self-modeling in animals. 10.1126/science.1133687}, author = {Bongard, Josh and Zykov, Victor and Lipson, Hod}, citeulike-article-id = {1269262}, citeulike-linkout-0 = {http://dx.doi.org/10.1126/science.1133687}, citeulike-linkout-1 = {http://www.sciencemag.org/content/sci;314/5802/1118.abstract}, citeulike-linkout-2 = {http://www.sciencemag.org/content/sci;314/5802/1118.full.pdf}, citeulike-linkout-3 = {http://www.sciencemag.org/cgi/content/abstract/314/5802/1118}, citeulike-linkout-4 = {http://view.ncbi.nlm.nih.gov/pubmed/17110570}, citeulike-linkout-5 = {http://www.hubmed.org/display.cgi?uids=17110570}, day = {17}, doi = {10.1126/science.1133687}, journal = {Science}, keywords = {abilities, adaptivity, animals, autobiographies, behavior-spaces, computational-epistemology, democracy, health-records, health-states, internal-models, justice-infrastructures, life-logging, memories, neurosupervision, philosophy-of-sience, populations-of-strategies, reinforcement-learning, resilience, resiliency, robots, self-measuring, self-modeling, self-models, social-dynamics, societies, strategies, survivability, synthetic-immune-systems, technoethics}, month = {November}, number = {5802}, pages = {1118--1121}, posted-at = {2009-05-23 22:59:05}, priority = {2}, title = {Resilient Machines Through Continuous Self-Modeling}, url = {http://dx.doi.org/10.1126/science.1133687}, volume = {314}, year = {2006} }

TY - JOUR ID - citeulike:1269262 L3 - citeulike-article-id:1269262 N2 - Animals sustain the ability to operate after injury by creating qualitatively different compensatory behaviors. Although such robustness would be desirable in engineered systems, most machines fail in the face of unexpected damage. We describe a robot that can recover from such change autonomously, through continuous self-modeling. A four-legged machine uses actuation-sensation relationships to indirectly infer its own structure, and it then uses this self-model to generate forward locomotion. When a leg part is removed, it adapts the self-models, leading to the generation of alternative gaits. This concept may help develop more robust machines and shed light on self-modeling in animals. 10.1126/science.1133687 IS - 5802 JF - Science EP - 1121 TI - Resilient Machines Through Continuous Self-Modeling VL - 314 SP - 1118 KW - abilities KW - adaptivity KW - animals KW - autobiographies KW - behavior-spaces KW - computational-epistemology KW - democracy KW - health-records KW - health-states KW - internal-models KW - justice-infrastructures KW - life-logging KW - memories KW - neurosupervision KW - philosophy-of-sience KW - populations-of-strategies KW - reinforcement-learning KW - resilience KW - resiliency KW - robots KW - self-measuring KW - self-modeling KW - self-models KW - social-dynamics KW - societies KW - strategies KW - survivability KW - synthetic-immune-systems KW - technoethics AU - Bongard, Josh AU - Zykov, Victor AU - Lipson, Hod PY - 2006/11/17/ UR - http://dx.doi.org/10.1126/science.1133687 ER -