Chapter 15 Quantification of Emergent Behaviors Induced by Feedback Resonance of Chaos

We address the issue of how an embodied system can autonomously explore and discover the action possibilities inherent to its body. Our basic assumption is that the intrinsic dynamics of a system can be explored by perturbing the system through small but well-timed feedback actions and by exploiting a mechanism of feedback resonance. We hypothesize that such perturbations, if appropriately chosen, can favor the transitions from one stable attractor to another, and the discovery of stable postural configurations. To test our ideas, we realize an experimental system consisting of a ring-shaped mass-spring structure driven by a network of coupled chaotic pattern generators (called coupled chaotic fields). We study the role played by the chaoticity of the neural system as the control parameter governing phase transitions in movement space. Through a frequency-domain analysis of the emergent behavioral patterns, we show that the system discovers regions of its state space exhibiting notable properties.

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