踢控制：使用吸引状态内出现的感觉运动循环的自组织机器人作为电机原语
Kick control: using the attracting states arising within the sensorimotor loop of self-organized robots as motor primitives
摘要：
自组织机器人可能会在感觉运动回路中产生吸引状态，即在神经活动、身体和环境变量的相空间中。不动点、极限环和混沌吸引子分别对应于不移动机器人、定向运动和不规则运动。因此，短的高阶控制命令可以用于将系统从一个自组织吸引子鲁棒地踢到不同吸引子的吸引池中，这里称为踢控制的概念。在这种情况下，个体感觉运动状态作为高度顺应的运动原语。我们研究了不同的实现踢控制的情况下，模拟和现实世界的轮式机器人，不同的车轮的动力学是独立产生的本地反馈回路。反馈回路是由速率编码神经元介导的，这些神经元专门处理车轮实际旋转角度的投影方面的本体感觉输入。然后，神经活动的变化通过类似于用于蒸汽机车的传动杆的模拟传动杆传递到旋转运动中。我们发现，自组织吸引子景观可能会变形的更高层次的控制信号，在踢控制的精神，并通过与环境的相互作用。碰撞墙壁破坏了对应于向前运动的极限环，结果是动力学变量在相空间中被对应于向后运动的极限环所吸引。该机器人没有设置任何距离或接触传感器，因此可以自主地反向。
英文摘要：
Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this setting to a non-moving robot, to directed, and to irregular locomotion respectively. Short higher-order control commands may hence be used to kick the system from one self-organized attractor robustly into the basin of attraction of a different attractor, a concept termed here as kick control. The individual sensorimotor states serve in this context as highly compliant motor primitives. We study different implementations of kick control for the case of simulated and real-world wheeled robots, for which the dynamics of the distinct wheels is generated independently by local feedback loops. The feedback loops are mediated by rate-encoding neurons disposing exclusively of propriosensoric inputs in terms of projections of the actual rotational angle of the wheel. The changes of the neural activity are then transmitted into a rotational motion by a simulated transmission rod akin to the transmission rods used for steam locomotives. We find that the self-organized attractor landscape may be morphed both by higher-level control signals, in the spirit of kick control, and by interacting with the environment. Bumping against a wall destroys the limit cycle corresponding to forward motion, with the consequence that the dynamical variables are then attracted in phase space by the limit cycle corresponding to backward moving. The robot, which does not dispose of any distance or contact sensors, hence reverses direction autonomously.
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