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976 results on '"Pfeifer, Rolf"'

1. Robots as Powerful Allies for the Study of Embodied Cognition from the Bottom Up

Author

Hoffmann, Matej and Pfeifer, Rolf

Subjects
Computer Science - Artificial Intelligence, Computer Science - Robotics, Quantitative Biology - Neurons and Cognition
Abstract

A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence, models of cognition need to be embodied. In contrast to methods from empirical sciences to study cognition, robots can be freely manipulated and virtually all key variables of their embodiment and control programs can be systematically varied. As such, they provide an extremely powerful tool of investigation. We present a robotic bottom-up or developmental approach, focusing on three stages: (a) low-level behaviors like walking and reflexes, (b) learning regularities in sensorimotor spaces, and (c) human-like cognition. We also show that robotic based research is not only a productive path to deepening our understanding of cognition, but that robots can strongly benefit from human-like cognition in order to become more autonomous, robust, resilient, and safe., Comment: 21 pages, 3 figures

Published
2018
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2. Simulating development in a real robot: on the concurrent increase of sensory, motor, and neural complexity

Author

Gomez, Gabriel, Lungarella, Max, Eggenberger Hotz, Peter, Matsushita, Kojiro, Pfeifer, Rolf, Berthouze, Luc, Kozima, Hideki, Prince, Christopher G., Sandini, Giulio, Stojanov, Georgi, Metta, Giorgio, and Balkenius, Christian

Subjects
Computer Science: Machine Learning, Computer Science: Neural Nets, Computer Science: Robotics, Machine Learning, Neural Nets, Robotics
Abstract

We present a quantitative investigation on the effects of a discrete developmental progression on the acquisition of a foveation behavior by a robotic hand-arm-eyes system. Development is simulated by (a) increasing the resolution of visual and tactile systems, (b) freezing and freeing mechanical degrees of freedom, and (c) adding neuronal units to the neural control architecture. Our experimental results show that a system starting with a low-resolution sensory system, a low precision motor system, and a low complexity neural structure, learns faster that a system which is more complex at the beginning.

Published
2004

3. Measuring information transfer in a soft robotic arm

Author

Nakajima, Kohei, Schmidt, Nico, and Pfeifer, Rolf

Subjects
Computer Science - Information Theory, Computer Science - Robotics, Nonlinear Sciences - Adaptation and Self-Organizing Systems
Abstract

Soft robots can exhibit diverse behaviors with simple types of actuation by partially outsourcing control to the morphological and material properties of their soft bodies, which is made possible by the tight coupling between control, body, and environment. In this paper, we present a method that will quantitatively characterize these diverse spatiotemporal dynamics of a soft body based on the information-theoretic approach. In particular, soft bodies have the ability to propagate the effect of actuation through the entire body, with a certain time delay, due to their elasticity. Our goal is to capture this delayed interaction in a quantitative manner based on a measure called momentary information transfer. We extend this measure to soft robotic applications and demonstrate its power using a physical soft robotic platform inspired by the octopus. Our approach is illustrated in two ways. First, we statistically characterize the delayed actuation propagation through the body as a strength of information transfer. Second, we capture this information propagation directly as local information dynamics. As a result, we show that our approach can successfully characterize the spatiotemporal dynamics of the soft robotic platform, explicitly visualizing how information transfers through the entire body with delays. Further extension scenarios of our approach are discussed for soft robotic applications in general., Comment: 29 pages, 8 figures

Published
2014
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4. Exploiting short-term memory in soft body dynamics as a computational resource

Author

Nakajima, Kohei, Li, Tao, Hauser, Helmut, and Pfeifer, Rolf

Subjects
Physics - Computational Physics, Computer Science - Distributed, Parallel, and Cluster Computing, Nonlinear Sciences - Adaptation and Self-Organizing Systems
Abstract

Soft materials are not only highly deformable but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity, and potentially infinitely many degrees of freedom. Here we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way toward exploiting passive body dynamics for control of a large class of underactuated systems., Comment: 22 pages, 11 figures; email address corrected

Published
2014

5. The implications of embodiment for behavior and cognition: animal and robotic case studies

Author

Hoffmann, Matej and Pfeifer, Rolf

Subjects
Computer Science - Artificial Intelligence
Abstract

In this paper, we will argue that if we want to understand the function of the brain (or the control in the case of robots), we must understand how the brain is embedded into the physical system, and how the organism interacts with the real world. While embodiment has often been used in its trivial meaning, i.e. 'intelligence requires a body', the concept has deeper and more important implications, concerned with the relation between physical and information (neural, control) processes. A number of case studies are presented to illustrate the concept. These involve animals and robots and are concentrated around locomotion, grasping, and visual perception. A theoretical scheme that can be used to embed the diverse case studies will be presented. Finally, we will establish a link between the low-level sensory-motor processes and cognition. We will present an embodied view on categorization, and propose the concepts of 'body schema' and 'forward models' as a natural extension of the embodied approach toward first representations., Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-58

Published
2012

7. Robotics and Emotion

Author

Pfeifer, Rolf, Ishiguro, Hiroshi, Anzai, Yuichiro, and Miyake, Naomi

Published
2012

12. Self-Stabilization and Behavioral Diversity of Embodied Adaptive Locomotion

Author

Iida, Fumiya, Pfeifer, Rolf, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Iida, Fumiya, editor, Pfeifer, Rolf, editor, Steels, Luc, editor, and Kuniyoshi, Yasuo, editor

Published
2004
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13. Embodied Artificial Intelligence: Trends and Challenges

Author

Pfeifer, Rolf, Iida, Fumiya, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Iida, Fumiya, editor, Pfeifer, Rolf, editor, Steels, Luc, editor, and Kuniyoshi, Yasuo, editor

Published
2004
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17. Sensory Feedback of a Fish Robot with Tunable Elastic Tail Fin

Author

Ziegler, Marc, Pfeifer, Rolf, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Lepora, Nathan F., editor, Mura, Anna, editor, Krapp, Holger G., editor, Verschure, Paul F. M. J., editor, and Prescott, Tony J., editor

Published
2013
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18. Using Sensorimotor Contingencies for Terrain Discrimination and Adaptive Walking Behavior in the Quadruped Robot Puppy

Author

Hoffmann, Matej, Schmidt, Nico M., Pfeifer, Rolf, Engel, Andreas K., Maye, Alexander, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Ziemke, Tom, editor, Balkenius, Christian, editor, and Hallam, John, editor

Published
2012
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21. On the Influence of Sensor Morphology on Vergence

Author

Martinez, Harold, Sumioka, Hidenobu, Lungarella, Max, Pfeifer, Rolf, Hutchison, David, Kanade, Takeo, Kittler, Josef, Kleinberg, Jon M., Mattern, Friedemann, Mitchell, John C., Naor, Moni, Nierstrasz, Oscar, Pandu Rangan, C., Steffen, Bernhard, Sudan, Madhu, Terzopoulos, Demetri, Tygar, Doug, Vardi, Moshe Y., Weikum, Gerhard, Goebel, Randy, Siekmann, Jörg, Wahlster, Wolfgang, Doncieux, Stéphane, editor, Girard, Benoît, editor, Guillot, Agnès, editor, Hallam, John, editor, Meyer, Jean-Arcady, editor, and Mouret, Jean-Baptiste, editor

Published
2010
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23. Collaborative Work in 3D Virtual Environments: A Research Agenda and Operational Framework

Author

Hasler, Béatrice S., Buecheler, Thierry, Pfeifer, Rolf, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Ozok, A. Ant, editor, and Zaphiris, Panayiotis, editor

Published
2009
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24. Morphological Computation – Connecting Brain, Body, and Environment

Author

Pfeifer, Rolf, Gómez, Gabriel, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Sendhoff, Bernhard, editor, Körner, Edgar, editor, Sporns, Olaf, editor, Ritter, Helge, editor, and Doya, Kenji, editor

Published
2009
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