---
_id: '652'
abstract:
- lang: eng
  text: 'We present an approach that enables robots to self-organize their sensorimotor
    behavior from scratch without providing specific information about neither the
    robot nor its environment. This is achieved by a simple neural control law that
    increases the consistency between external sensor dynamics and internal neural
    dynamics of the utterly simple controller. In this way, the embodiment and the
    agent-environment coupling are the only source of individual development. We show
    how an anthropomorphic tendon driven arm-shoulder system develops different behaviors
    depending on that coupling. For instance: Given a bottle half-filled with water,
    the arm starts to shake it, driven by the physical response of the water. When
    attaching a brush, the arm can be manipulated into wiping a table, and when connected
    to a revolvable wheel it finds out how to rotate it. Thus, the robot may be said
    to discover the affordances of the world. When allowing two (simulated) humanoid
    robots to interact physically, they engage into a joint behavior development leading
    to, for instance, spontaneous cooperation. More social effects are observed if
    the robots can visually perceive each other. Although, as an observer, it is tempting
    to attribute an apparent intentionality, there is nothing of the kind put in.
    As a conclusion, we argue that emergent behavior may be much less rooted in explicit
    intentions, internal motivations, or specific reward systems than is commonly
    believed.'
article_number: '7846789'
author:
- first_name: Ralf
  full_name: Der, Ralf
  last_name: Der
- first_name: Georg S
  full_name: Martius, Georg S
  id: 3A276B68-F248-11E8-B48F-1D18A9856A87
  last_name: Martius
citation:
  ama: 'Der R, Martius GS. Dynamical self consistency leads to behavioral development
    and emergent social interactions in robots. In: IEEE; 2017. doi:<a href="https://doi.org/10.1109/DEVLRN.2016.7846789">10.1109/DEVLRN.2016.7846789</a>'
  apa: 'Der, R., &#38; Martius, G. S. (2017). Dynamical self consistency leads to
    behavioral development and emergent social interactions in robots. Presented at
    the ICDL EpiRob: International Conference on Development and Learning and Epigenetic
    Robotics , Cergy-Pontoise, France: IEEE. <a href="https://doi.org/10.1109/DEVLRN.2016.7846789">https://doi.org/10.1109/DEVLRN.2016.7846789</a>'
  chicago: Der, Ralf, and Georg S Martius. “Dynamical Self Consistency Leads to Behavioral
    Development and Emergent Social Interactions in Robots.” IEEE, 2017. <a href="https://doi.org/10.1109/DEVLRN.2016.7846789">https://doi.org/10.1109/DEVLRN.2016.7846789</a>.
  ieee: 'R. Der and G. S. Martius, “Dynamical self consistency leads to behavioral
    development and emergent social interactions in robots,” presented at the ICDL
    EpiRob: International Conference on Development and Learning and Epigenetic Robotics
    , Cergy-Pontoise, France, 2017.'
  ista: 'Der R, Martius GS. 2017. Dynamical self consistency leads to behavioral development
    and emergent social interactions in robots. ICDL EpiRob: International Conference
    on Development and Learning and Epigenetic Robotics , 7846789.'
  mla: Der, Ralf, and Georg S. Martius. <i>Dynamical Self Consistency Leads to Behavioral
    Development and Emergent Social Interactions in Robots</i>. 7846789, IEEE, 2017,
    doi:<a href="https://doi.org/10.1109/DEVLRN.2016.7846789">10.1109/DEVLRN.2016.7846789</a>.
  short: R. Der, G.S. Martius, in:, IEEE, 2017.
conference:
  end_date: 2016-09-22
  location: Cergy-Pontoise, France
  name: 'ICDL EpiRob: International Conference on Development and Learning and Epigenetic
    Robotics '
  start_date: 2016-09-19
date_created: 2018-12-11T11:47:43Z
date_published: 2017-02-07T00:00:00Z
date_updated: 2021-01-12T08:07:51Z
day: '07'
department:
- _id: ChLa
- _id: GaTk
doi: 10.1109/DEVLRN.2016.7846789
language:
- iso: eng
month: '02'
oa_version: None
publication_identifier:
  isbn:
  - 978-150905069-7
publication_status: published
publisher: IEEE
publist_id: '7100'
quality_controlled: '1'
scopus_import: 1
status: public
title: Dynamical self consistency leads to behavioral development and emergent social
  interactions in robots
type: conference
user_id: 3E5EF7F0-F248-11E8-B48F-1D18A9856A87
year: '2017'
...