Self-organized robot behavior from theprinciple of homeokinesisRalf

The paper introduces homeokinesis as a general principle for the self-organization of robot behavior. Homeokinesis is a domain-invariant principle which induces speciic, seemingly goal{oriented behaviors of an agent in a complex external world. The principle is based on the assumption that the agent is able of (i) learning an internal representation (self-model) of its current behavior and (ii) to adapt its behavior in such a way that the complexity gap between model and true behavior is minimized. Driven by the basic impetus of always moving and acting the agent in a noisy complex world develops smooth controlled behaviors as the minimal compromise between the high dynamical complexity of the world and the low complexity of the model. In these terms behavior may be called a byproduct (epiphenomenon) of the internal \desire" of the agent to be able of interpreting the world in simple terms.