---
_id: '8094'
abstract:
- lang: eng
  text: 'With the accelerated development of robot technologies, optimal control becomes
    one of the central themes of research. In traditional approaches, the controller,
    by its internal functionality, finds appropriate actions on the basis of the history
    of sensor values, guided by the goals, intentions, objectives, learning schemes,
    and so forth. The idea is that the controller controls the world---the body plus
    its environment---as reliably as possible. This paper focuses on new lines of
    self-organization for developmental robotics. We apply the recently developed
    differential extrinsic synaptic plasticity to a muscle-tendon driven arm-shoulder
    system from the Myorobotics toolkit. In the experiments, we observe a vast variety
    of self-organized behavior patterns: when left alone, the arm realizes pseudo-random
    sequences of different poses. By applying physical forces, the system can be entrained
    into definite motion patterns like wiping a table. Most interestingly, after attaching
    an object, the controller gets in a functional resonance with the object''s internal
    dynamics, starting to shake spontaneously bottles half-filled with water or sensitively
    driving an attached pendulum into a circular mode. When attached to the crank
    of a wheel the neural system independently discovers how to rotate it. In this
    way, the robot discovers affordances of objects its body is interacting with.'
article_processing_charge: No
author:
- first_name: Georg S
  full_name: Martius, Georg S
  id: 3A276B68-F248-11E8-B48F-1D18A9856A87
  last_name: Martius
- first_name: Rafael
  full_name: Hostettler, Rafael
  last_name: Hostettler
- first_name: Alois
  full_name: Knoll, Alois
  last_name: Knoll
- first_name: Ralf
  full_name: Der, Ralf
  last_name: Der
citation:
  ama: 'Martius GS, Hostettler R, Knoll A, Der R. Self-organized control of an tendon
    driven arm by differential extrinsic plasticity. In: <i>Proceedings of the Artificial
    Life Conference 2016</i>. Vol 28. MIT Press; 2016:142-143. doi:<a href="https://doi.org/10.7551/978-0-262-33936-0-ch029">10.7551/978-0-262-33936-0-ch029</a>'
  apa: 'Martius, G. S., Hostettler, R., Knoll, A., &#38; Der, R. (2016). Self-organized
    control of an tendon driven arm by differential extrinsic plasticity. In <i>Proceedings
    of the Artificial Life Conference 2016</i> (Vol. 28, pp. 142–143). Cancun, Mexico:
    MIT Press. <a href="https://doi.org/10.7551/978-0-262-33936-0-ch029">https://doi.org/10.7551/978-0-262-33936-0-ch029</a>'
  chicago: Martius, Georg S, Rafael Hostettler, Alois Knoll, and Ralf Der. “Self-Organized
    Control of an Tendon Driven Arm by Differential Extrinsic Plasticity.” In <i>Proceedings
    of the Artificial Life Conference 2016</i>, 28:142–43. MIT Press, 2016. <a href="https://doi.org/10.7551/978-0-262-33936-0-ch029">https://doi.org/10.7551/978-0-262-33936-0-ch029</a>.
  ieee: G. S. Martius, R. Hostettler, A. Knoll, and R. Der, “Self-organized control
    of an tendon driven arm by differential extrinsic plasticity,” in <i>Proceedings
    of the Artificial Life Conference 2016</i>, Cancun, Mexico, 2016, vol. 28, pp.
    142–143.
  ista: 'Martius GS, Hostettler R, Knoll A, Der R. 2016. Self-organized control of
    an tendon driven arm by differential extrinsic plasticity. Proceedings of the
    Artificial Life Conference 2016. ALIFE 2016: 15th International Conference on
    the Synthesis and Simulation of Living Systems vol. 28, 142–143.'
  mla: Martius, Georg S., et al. “Self-Organized Control of an Tendon Driven Arm by
    Differential Extrinsic Plasticity.” <i>Proceedings of the Artificial Life Conference
    2016</i>, vol. 28, MIT Press, 2016, pp. 142–43, doi:<a href="https://doi.org/10.7551/978-0-262-33936-0-ch029">10.7551/978-0-262-33936-0-ch029</a>.
  short: G.S. Martius, R. Hostettler, A. Knoll, R. Der, in:, Proceedings of the Artificial
    Life Conference 2016, MIT Press, 2016, pp. 142–143.
conference:
  end_date: 2016-07-08
  location: Cancun, Mexico
  name: 'ALIFE 2016: 15th International Conference on the Synthesis and Simulation
    of Living Systems'
  start_date: 2016-07-04
date_created: 2020-07-05T22:00:47Z
date_published: 2016-09-01T00:00:00Z
date_updated: 2021-01-12T08:16:53Z
day: '01'
ddc:
- '610'
department:
- _id: ChLa
- _id: GaTk
doi: 10.7551/978-0-262-33936-0-ch029
ec_funded: 1
file:
- access_level: open_access
  checksum: cff63e7a4b8ac466ba51a9c84153a940
  content_type: application/pdf
  creator: cziletti
  date_created: 2020-07-06T12:59:09Z
  date_updated: 2020-07-14T12:48:09Z
  file_id: '8096'
  file_name: 2016_ProcALIFE_Martius.pdf
  file_size: 678670
  relation: main_file
file_date_updated: 2020-07-14T12:48:09Z
has_accepted_license: '1'
intvolume: '        28'
language:
- iso: eng
month: '09'
oa: 1
oa_version: Published Version
page: 142-143
project:
- _id: 25681D80-B435-11E9-9278-68D0E5697425
  call_identifier: FP7
  grant_number: '291734'
  name: International IST Postdoc Fellowship Programme
publication: Proceedings of the Artificial Life Conference 2016
publication_identifier:
  isbn:
  - '9780262339360'
publication_status: published
publisher: MIT Press
quality_controlled: '1'
scopus_import: 1
status: public
title: Self-organized control of an tendon driven arm by differential extrinsic plasticity
tmp:
  image: /images/cc_by.png
  legal_code_url: https://creativecommons.org/licenses/by/4.0/legalcode
  name: Creative Commons Attribution 4.0 International Public License (CC-BY 4.0)
  short: CC BY (4.0)
type: conference
user_id: D865714E-FA4E-11E9-B85B-F5C5E5697425
volume: 28
year: '2016'
...