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From Bricks to Brains: The Embodied Cognitive Science of LEGO Robots [Pehme köide]

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  • Formaat: Paperback / softback, 352 pages, kõrgus x laius: 254x178 mm, kaal: 980 g, 150 b&w images
  • Ilmumisaeg: 01-May-2010
  • Kirjastus: AU Press
  • ISBN-10: 1897425783
  • ISBN-13: 9781897425787
Teised raamatud teemal:
From Bricks to Brains: The Embodied Cognitive Science of LEGO RobotsSuurem pilt
  • Formaat: Paperback / softback, 352 pages, kõrgus x laius: 254x178 mm, kaal: 980 g, 150 b&w images
  • Ilmumisaeg: 01-May-2010
  • Kirjastus: AU Press
  • ISBN-10: 1897425783
  • ISBN-13: 9781897425787
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9781897425787.html
Märksõnad:
Even simple agents, such as LEGO robots, are capable of exhibiting complex behaviour when they can sense and alter the world around them.

From Bricks to Brains offers an introduction to embodied cognitive science and illustrates its foundational ideas through the construction and observation of LEGO Mindstorms robots.

Discussing the characteristics that distinguish embodied cognitive science from classical cognitive science, the authors place a renewed emphasis on sensing and acting, on the importance of physical embodiment, and on the exploration of distributed notions of control. They also show how synthesizing simple systems and observing their behaviour can generate new theoretical insights. Numerous examples are brought forward to illustrate a key theme: the importance of environment to an actor. Even simple agents, such as LEGO robots, are capable of exhibiting complex behaviour when they can sense and alter the world around them.
Acknowledgements
Chapter 1 Mind Control---Internal or External?
1(24)
1.0
Chapter Overview
1(1)
1.1 Our Special Intelligence
2(1)
1.2 Rodents that Engineer Wetlands
3(2)
1.2.1 Castor canadensis
1.2.2 The Cognitive Beaver?
1.3 The Instincts of Insects
5(2)
1.3.1 The Instinctive Wasp
1.3.2 Umwelt and Control
1.4 Paper Wasp Colonies and Their Nests
7(1)
1.4.1 Colonies and Their Nests
1.4.2 Scalling Up
1.5 The Towers of Termites
8(2)
1.5.1 Termite Mounds
1.5.2 The Thinking Termite?
1.6 The Rational Insect?
10(1)
1.6.1 Computational Theory of Mind
1.6.2 Are Insects Representational?
1.7 Insect as Superorganism/
11(2)
1.7.1 The Intelligent Whole
1.7.2 Colonial Intelligence
1.8 The Ultimate Democracy
13(1)
1.8.1 Emerging Problems
1.8.2 From Whence Organization?
1.9 Programs for Nest Construction
14(2)
1.9.1 An Inherited Program
1.9.2 Testing the Theory
1.10 The Enivronment as Program
16(1)
1.10.1 A Complex Environment
1.10.2 Stigmergy
1.11 Stigmergy and the Synthetic Approach
17(2)
1.11.1 The Synthetic Approach
1.11.2 Wasp Nest Examples
1.12 Stigmergy and the Parable of the Ant
19(1)
1.12.1 Intellignece and Stigmergy
1.12.2 Are Mammals Stigmergic?
1.13 Embodiment and Posthumanism
20(2)
1.13.1 Posthumanism
1.13.2 Embodiment
1.14 Stigmergy and Classical Cognition
22(3)
1.14.1 Classical Control
1.14.2 Externalizing Control
Chapter 2 Classical Music and the Classical Mind
25(34)
2.0
Chapter Overview
25(1)
2.1 The Boolean Dream
26(2)
2.1.1 Cognitive Scinece
2.1.2 Logicism
2.1.3 The Boolean Dream
2.2 Classical Cognitive Science
28(1)
2.2.1 A Classical Device
2.2.2 Three Key Characteristics
2.3 Classical Views of Mind and Music
29(2)
2.3.1 Mind and Music
2.3.2 A Classcial Analogy
2.4 Musical Logicism
31(1)
2.4.1 Musical Formalisms
2.4.2 Sonalta-Allegro Form
2.5 A Haromnious Narrative
32(2)
2.5.1 Representational Explanation
2.5.2 Musical Expressions
2.6 The Nature of Classical Composition
34(1)
2.6.1 The Disembodied Mind
2.6.2 The Thoughtful Composer
2.7 Central Control of a Classical Performance
35(2)
2.7.1 Central Control
2.7.2 Conductor as Central Controller
2.7.3 The Controlling Score
2.8 Disembodiment and the Classical Audience
37(1)
2.8.1 Disembodiment
2.8.2 Audience and Composition
2.9 Classical Reactions
38(2)
2.9.1 Reacting to Music
2.9.2 Classical Competitors
2.10 Modern Music
40(1)
2.10.1 Out with the Old
2.10.2 In with the New
2.11 Dodecaphony
41(2)
2.11.1 Tonality and Atonality
2.11.2 The Twelve-Tone Method
2.12 Reactions to Atonal Structure
43(2)
2.12.1 From Structure to Structure
2.12.2 Reducing Central Control
2.13 Control and Emergence in Cage's Music
45(1)
2.13.1 Silence
2.13.2 Chance and Emergence
2.14 Emergence in Minimalist Music
46(2)
2.14.1 Tape as Medium
2.14.2 It's Gonna Rain
2.15 A Minimalist Score
48(1)
2.15.1 In C
2.15.2 Minimalism and Stigmergy
2.16 Musical Stigmergy
49(2)
2.16.1 Musical Swarms
2.16.2 The ReacTable
2.17 From Hot to Cool
51(1)
2.17.1 The Conduit Metaphor
2.17.2 Audible Processes
2.18 The Shock of the New
52(2)
2.18.1 Classical Value
2.18.2 A Tradition of Improvisation
2.19 Musical Methods and the Mind
54(5)
2.19.1 Characteristic Questions
2.19.2 The Synthetic Approach
Chapter 3 Situated Cognition and Bricolage
59(34)
3.0
Chapter Overview
57(1)
3.1 Three Topics to Consider
58(1)
3.1.1 Review to This Point
3.1.2 New Headings
3.2 Production Systems as Classical Architectures
59(2)
3.2.1 The Production System
3.2.2 Classical Characteristics
3.3 Sense-Think-Act with Productions
61(2)
3.3.1 An Early Proudction System
3.3.2 The Next ACT
3.4 Logic from Action
63(2)
3.4.1 Productions and Logicism
3.4.2 Logic as Internalized Action
3.6 An Epic Evolution
65(1)
3.5.1 Prodcutions, Sensing, and Action
3.5.2 The EPIC Architecture
3.6 Productions and Formal Operations
66(2)
3.6.1 Sense-Think-Act
3.6.2 Formal Operations
3.7 Evidence for Sensing and Acting Wihtout Thinking
68(1)
3.7.1 Classical Modularity
3.7.2 Visuomotor Modules
3.8 Action without Representation?
69(2)
3.8.1 Multiple Visual Pathways
3.8.2 Blindsight
3.9 A Need for Action
71(1)
3.9.1 Incorporation Action
3.9.2 Advantages of Action
3.10 The External World and Computation
72(2)
3.10.1 Worldly Support for Cognition
3.10.2 Scaffolding
3.11 Some Implications of Scaffolding
74(2)
3.11.1 The Leaky Mind
3.11.2 Group Cognition
3.11.3 Specialized Cognition
3.12 Stigmergy of Thought
76(1)
3.12.1 Environmental Import
3.13 Bricolage
77(2)
3.13.1 Resource Allocation
3.13.2 Thought as Bricolage
3.14 The Power of Bricologe
79(1)
3.14.1 The Savage Mind
3.14.2 Power from Non-linearity
3.15 The Society of Mind
80(2)
3.15.1 Agents and Agencies
3.15.2 Explaining Mental Societies
3.16 Engineering a Society of Mind
82(1)
3.16.1 Reverse Engineering
3.16.2 Forward Engineering
3.17 Synthesis in Action
83(2)
3.17.1 Cricket Phonotaxis
3.17.2 Robot phonotaxis
3.18 Verum-Factum
85(2)
3.18.1 Synthetic Psychology
3.18.2 Vico's Philosophy
3.19 Mind and Method
87(1)
3.19.1 Mind
3.19.2 Method
3.20 Synthesis as Process, Not as Design
88(2)
3.20.1 Synthesis is not Design
3.20.2 Synthesis as Process
3.21 Building Bricoleurs
90(3)
3.21.1 Cartesian Alternatives
3.21.2 Students as Bricoleurs
Chapter 4 Braitenberg's Vehicle 2
93(24)
4.0
Chapter Overview
93(1)
4.1 A Robot's Parable
94(1)
4.1.1 Path of a Robot
4.1.2 Analysis and Synthesis
4.2 Braitenberg's Thought Experiments
95(2)
4.2.1 A Thought Experiment
4.2.2 Goals
4.3 Foraging for Parts
97(1)
4.3.1 Parts and Foraging
4.3.2 Robot Bricolage
4.4 Chassis Design (Step 1 through 4)
98(1)
4.4.1 General Design
4.4.2 Initial Chassis Construction
4.5 Constructing the Chassis (Step 5 through 7)
99(1)
4.5.1 General Design
4.6 The NXT Interactive Servo Motor
99(1)
4.6.1 The Evolution of LEGO Motors
4.6.2 The NXT Servo Motor
4.7 Adding Motors to the the Chassis (Steps 8 and 9)
100(1)
4.8 Adding a Front Slider (Step 10)
101(1)
4.8.1 Passive Front Support
4.8.2 Constructing the Front Slider
4.9 Constructing Rear Axles (Step 11)
102(1)
4.9.1 Wheel Axle Design
4.9.2 Constructing the Wheel Axles
4.10 Attaching the NXT Brick (Step 12)
103(1)
4.10.1 The NXT Brick
4.10.2 Attaching the Brick
4.11 Attaching Light Sensor Supports (Step 13)
103(1)
4.11.1 Sensor Mount Design
4.12 Adding Light Sensor (Step 14)
104(1)
4.12.1 Mounting Light Sensors
4.13 Wheels and Cable Considerations
105(1)
4.13.1 Completing the Robot
4.14 Sensing, Acting, and the NXt Brick
106(1)
4.14.1 The NXT Brick
4.15 NXT Light Sensor Properties
107(2)
4.15.1 The LEGO Light Sensor
4.16 Programming the NXT Brick
109(1)
4.16.1 Programming Steps
4.16.2 Programming Environment
4.17 A Simple Main Task
110(1)
4.17.1 The Main Task
4.17.2 Defining Varibale Names
4.17.3 Miscellaneous Syntax
4.18 Linking Light Sensors to Motors
111(1)
4.18.1 Two More Tasks
4.19 A Complete Program
112(2)
4.20 Exploring Vehricle 2 Behaviour
114(1)
4.20.1 Three Test Environments
4.20.2 A Simple World
4.20.3 A More Complex World
4.20.4 Complexities via Embodiment
4.21 Further Avenues for Bricoleurs
115(2)
4.21.1 Exploring Embodiment
4.21.2 Manipulating Environments
4.21.3 Modifying Code
4.21.4 Bricolage, Not Design
Chapter 5 Thoughtless Walkers
117(46)
5.0
Chapter Overview
117(1)
5.1 Analysis vs. Synthesis
118(1)
5.1.1 Synthetic Methodology
5.1.2 Analytic Methodology
5.1.3 Complementary Methodologies
5.2 Biomimetics and Analysis
119(2)
5.2.1 Natural Technology
5.2.2 Early Analysis of Locomotion
5.3 From Motion Analysis to Walking Robots
121(1)
5.3.1 Modern Motion Analysis
5.3.2 Biologically Inspired Robots
5.4 Analysis That Constrains Synthesis
122(2)
5.4.1 Passive Dynamic Walking
5.4.2 Search and Construct
5.5 A LEGO Passive Dynamic Walker
124(1)
5.5.1 Synthesis after Analysis
5.5.2 Parts and Foraging
5.6 Building a Straight-Legged Hinge
125(1)
5.6.1 Centre Post
5.6.2 Support Legs
5.7 Weighting the Walker
126(1)
5.7.1 The Need for Weights
5.7.2 LEGO Weights
5.8 A Specialized Environment
127(1)
5.8.1 The Need for Holes
5.8.2 Buildings a Ramp with Gaps
5.9 Raising the Ramp
128(1)
5.9.1 Reinforced Ends
5.9.2 Elevating the Platform
5.10 From Talking the Talk to Walking the Walk
129(2)
5.10.1 Passive Dynamic Walking
5.10.2 Implications
5.11 Synthesis in Aid of Anlaysis
131(1)
5.11.1 The Opposite Direction
5.11.2 Analytic Intractability
5.12 Ashby's Homeostat
132(2)
5.12.1 Homeostat Design
5.12.2 Behaviour of the Homeostat
5.13 The Great Pretender
134(1)
5.13.1 Synthesis and Scaling Up
5.13.2 Strandbeest
5.14 A LEGO Strandbeest
135(1)
5.14.1 Alternative Material
5.15 Segmented Design
136(1)
5.15.1 Parts and Foraging
5.16 From the Ground Up
137(1)
5.16.1 Ankles and Feel
5.16.2 Feet vs. Wheels
5.17 A Strandbeest Leg
138(1)
5.17.1 Precise Proportions
5.18 LEGO Legs and Holy Numbers
139(1)
5.18.1 Completing a Leg
5.18.2 The Holy Numbers
5.19 Reinventing the Wheel
140(1)
5.19.1 Pairing Legs into a Module
5.20 Quadruped
141(2)
5.20.1 Mounting the Modules
5.20.2 Gait Exploration
5.21 Manipulating Quadruped Gaits
143(1)
5.21.1 Quadrauped Gaits
5.21.2 Exploring Strandbeest Gaits
5.22 An Octapedal Strandbeest
144(2)
5.22.1 Additional Leg
5.22.2 Walking with Eight Legs
5.23 Strandbeests in Action
146(1)
5.23.1 Observing Strandbeest Gaits
5.23.2 Exploiting Stronger Situation
5.24 Alternative Gaits and Robotic Snakes
147(2)
5.24.1 Snake-like Movement
5.24.2 Analyzing Snake Locomotion
5.25 The Wormeostat: A Synthetic Snake or Worm
149(1)
5.25.1 Feedback and Motion
5.25.2 Motion from Friction
5.26 Foraging for Wormeostat Parts
150(1)
5.26.1 Building the Wormeostat
5.26.2 Parts and Modules
5.27 Motor and Tire Assemblies
151(1)
5.26.1 Building the Wormeostat
5.26.2 Parts and Modules
5.27 Motor and Tire Assemblies
151(1)
5.27.1 Motor Modules
5.27.2 Tire Assemblies
5.28 Preparing Two NXT Bricks
151(1)
5.28.1 Control and Friction
5.29 Front End Friction
152(1)
5.29.1 Motor Friction
5.29.2 Brick Friction
5.30 A Second Front End Motor
153(1)
5.30.1 Reflected Construction
5.31 Completing the front Half
153(1)
5.31.1 Connecting Three Components
5.32 Modules for the Rear Half
154(1)
5.32.1 Replicating Components
5.33 Completing the Rear Half
154(1)
5.33.1 A Second Chain
5.34 The Total Wormeostat
154(1)
5.34.1 Linking the Halves
5.34.2 Programming Feedback
5.35 Wormeostat Code for Motor 1
155(2)
5.35.1 Motor Behaviour
5.36 Wormeostat Code for Motor 2
157(1)
5.36.1 Second Verse Same as First
5.37 Wormeostat Main Task
158(1)
5.37.1 The Main Task
5.37.2 Modular Duplication
5.38 The Wormeostat's Behaviour
159(1)
5.38.1 Fireside Dogs
5.38.2 Wormeostat Movement
5.39 Implications
160(3)
5.39.1 Two Cultures
5.39.2 Mending the Rift
Chapter 6 Machina Speculatrix
163(36)
6.0
Chapter Overview
163(1)
6.1 William Grey Walter
164(1)
6.1.1 Biographical Highlights
6.1.2 A Very Public Robot
6.2 The Tortoise
165(2)
6.2.1 Appearance
6.2.2 Behaviour
6.3 Speculation and Positive Tropisms
167(1)
6.3.1 Exploration as Speculation
6.3.2 Phototropism
6.3.3 Inferring Internal Mechanisms
6.4 Not All Lights Are the Same
168(2)
6.4.1 A Negative Phototropism
6.4.2 Analysis of Behaviour
6.5 Choice
170(1)
6.5.1 Bruidan's Ass
6.5.2 Complicating the Environment
6.6 Additional Negative Tropisms
171(2)
6.6.1 Avoiding Obstacles
6.6.2 Avoiding Slopes
6.7 Dynamic Tropisms
173(1)
6.7.1 Toys vs. Tools
6.7.2 Changing Lights Sensitivity
6.8 Self-Recognition
174(1)
6.8.1 Self, Not Machine
6.8.2 The Mirror Dance
6.9 Mutual Recognition
175(1)
6.9.1 The Relative World
6.9.2 Social Environments
6.10 Internal Stability
176(2)
6.10.1 Feedback and Cybernetics
6.10.2 Cybernetics and Simulation
6.11 Parsimony
178(2)
6.11.1 Two Approaches to Stability
6.11.2 A Simple Machine
6.12 A LEGO Tortoise
180(1)
6.12.1 A New Generation
6.12.2 Variations of Design
6.13 Parts for a Modular Design
181(1)
6.13.1 Sophistication from Tweaking
6.14 The "Spine" of the Chassis
182(1)
6.14.1 Building a Spine
6.15 Mirrored Motor Assemblies
182(1)
6.15.1 Two Motor Assemblies
6.16 Attaching Motor to the Chasis
183(1)
6.16.1 Motors and Steering Gear
6.17 A Small Stick for Big Obstacles
184(1)
6.17.1 Stick-in-Ring Detector
6.18 Adding a Drive Gear and Stick-In-Ring Switch
184(1)
6.18.1 Front Wheel Drive
6.18.2 Stick in the Stick-in-Ring
6.19 A Vertical Front Axle
185(1)
6.19.1 Front Axle Gears
6.20 Preparing the NXT Brick
185(1)
6.20.1 Readying the Brick
6.20.2 Stick-in-Ring Detector
6.21 Supporting Rear Wheels
186(2)
6.21.1 Rear Wheel Supports
6.21.2 Brick and Wheel Attachment
6.22 Front Wheel Assembly and Attachment
188(1)
6.22.1 Front Wheel Gear Gang
6.23 Pilot Light Assembly
189(1)
6.23.1 A LEGO Pilot Light
6.24 Attaching Pilot Lights and Connecting Wires
190(2)
6.24.1 Pilot Light Wiring
6.25 A Periscope Mirror
192(1)
6.25.1 A 360 Rotating Mirror
6.26 Sensing Light from the Periscope
193(1)
6.26.1 Attaching the Periscope
6.26.2 Sensing Periscope Light
6.27 Adding More Cables
194(1)
6.27.1 Periscope Wiring
6.27.2 Motor Wiring
6.28 A Surrounding Shell
194(2)
6.28.1 Shell Design
6.29 Suspending the Shell
196(1)
6.29.1 The Suspension System
6.30 Completing the Tortoise
197(2)
6.30.1 Attaching the Shell
6.30.2 Next: Tortoise Programming
6.30.3 Embodiment Issues
Chapter 7 The Subsumption Architecture
199(24)
7.0
Chapter Overview
199(1)
7.1 A Sandwich of Vertical Modules
200(1)
7.1.1 Cognitivism
7.1.2 The Classical Sandwich
7.2 The New Look and its Problems
201(2)
7.2.1 The New Look in Perception
7.2.2 Shakey Implications
7.3 Horizontal Layers in the Human Brain
203(2)
7.3.1 Evidence from Action
7.3.2 Sandwich Alternative
7.4 Horizontal Links between Sense and Action
205(1)
7.4.1 A Sandwich Alternative
7.5 The Subsumption Architecture
206(2)
7.5.1 Modularity of Mind
7.5.2 Vertical Modules
7.6 Advantages of the Subsumption Architecture
208(1)
7.6.1 Reasons for Revolution
7.6.2 Coping with Multiple Goals
7.6.3 Combining Multiple Sensors
7.6.4 Robustness
7.6.5 Sped with No Modeling
7.7 Concrete Examples
209(2)
7.7.1 Walking Robots
7.7.2 The Tortoise
7.8 Level o, Basic Movement
211(1)
7.8.1 A Fundamental Function
7.9 Level 1, Steering
212(1)
7.9.1 Exploration
7.10 Level 2, Sensing Ambient Light
212(2)
7.10.1 Light Affects Lower Levels
7.11 Level 3, Obstacle Avodiance
214(1)
7.11.1 Sophistication from Tweaking
7.12 The Main Task
215(1)
7.12.1 Modular Design
7.13 Observing Tortoise Behaviour
216(2)
7.13.1 Level o
7.13.2 Level o+ Level 1
7.13.3 Level o+ Level 1+ Level 2
7.13.4 All Four Levels
7.14 The Total Tortoise
218(2)
7.14.1 Repeating History
7.41.2 Search for an Optimum
7.14.3 Free Will
7.14.4 Discernment
7.14.5 Self-Recognition
7.15 Tortoise Implications
220(3)
7.15.1 Grey Walter's Legacy
7.15.2 The LEGO Tortoise
7.15.3 Degrees of Embodiment
Chapter 8 Embodiment, Stigmergy, and Swarm Intelligence
223(40)
8.0
Chapter Overview
223(1)
8.1 Travelling Salesmen
224(2)
8.1.1 The Travelling Salesman Problem
8.1.2 Solving the TSP
8.2 Swarm Intelligence
226(1)
8.2.1 Economical Ants
8.2.2 Emergent Intelligence
8.3 Collective Contributions
227(1)
8.3.1 Swarm Advantages
8.3.2 Robot Collectives
8.4 Critical Numbers of Agents
228(2)
8.4.1 When Is a Swarm Intelligent?
8.4.2 A Foraging Example
8.5 Coordination, Communication, and Cost
230(2)
8.5.1 Costly Coordination
8.5.2 A Stigmergic Solution
8.6 Co-operative Transport
232(2)
8.6.1 Robots that Push Boxes
8.6.2 Stigmergic Co-operation
8.7 Collective Sorting
234(1)
8.7.1 Spatial Sorting by Ants
8.7.2 Stigmergic Sorting by Robots
8.8 Stigmergy and Degrees of Embodiment
235(2)
8.8.1 Extending the Mind into the World
8.8.2 Degrees of Embodiment
8.9 The Lemming
237(1)
8.9.1 Lemming Situation
8.9.2 Lemming Embodiment
8.10 Foraging for Robot Parts and World Parts
238(1)
8.10.1 Robot Parts
8.10.2 Bricks to Move
8.11 Chassis and Rear Wheels
239(1)
8.11.1 NXT Brick as Chassis
8.12 Mounting Motors
240(1)
8.12.1 Motors and Cables
8.13 Upper Ultrasornic Sensor and Front Wheels
240(1)
8.13.1 The Upper Ultrasonic
8.13.2 Front Wheel Drive
8.14 Mounting the Lower Ultrasonic Sensor
241(1)
8.14.1 Angled Ultrasonics
8.15 Designing the Brick Catcher
242(1)
8.15.1 Important Embodiment
8.16 Brick Catcher, Brick Processor
243(1)
8.16.1 Embodiment and Situation
8.17 Completing the Lemming
244(1)
8.17.1 Final Construction
8.18 Level o: Drive and Calibrate
245(2)
8.18.1 Driving
8.18.2 Calibration
8.19 Level 1: Dodge Obstacles
247(1)
8.19.1 The Lemmming's Umwelt
8.19.2 Avoiding Obstacles
8.20 Level 2: Seek Bricks
248(1)
8.20.1 Brick Attraction
8.20.2 Using the Lower Ultrasonic
8.21 Level 3: Process Brick Colours
249(1)
8.21.1 Bricks and Behaviour
8.22 Level 1: Integrate Levels to Control Motors
250(1)
8.22.1 Multilple Motor Influences
8.23 Putting All the Levels Together
251(2)
8.23.1 The Main Task
8.24 The Lonely Lemmming
253(2)
8.24.1 Lemming Behaviour
8.25 Collecting Collecting
255(1)
8.25.1 Two Lemmings
8.25.2 Three Lemmings
8.26 Explaining Sorting Into Corners
256(3)
8.26.1 Corner Analysis
8.26.2 Corners for Free
8.27 Do Lemmings Have Collective Intelligence?
259(1)
8.27.1 "Speed" of work
8.28 Explaining Collective Intelligence
259(2)
8.28.1 Brick Dynamics
8.28.2 Interaction and the Middle
8.29 Implications and Future Directions
261(2)
8.29.1 Implications
8.29.2 Future Directions
Chapter 9 Totems Toys---Or Tools?
263(46)
9.0
Chapter Overview
263(1)
9.1 Are Our Robots More Than Totems?
264(1)
9.1.1 Uncanny Machines
9.2 Are Our Robots More Than Toys?
265(2)
9.2.1 The Tortoise as Toy
9.2.2 LEGO Is a Toy!
9.3 From Totems and Toys to Tools
267(1)
9.3.1 Tortoise as Tool
9.3.2 Pedagogical and Scientific Tools
9.4 Animal Navigation and Representation
268(2)
9.4.1 Navigational Organisms
9.4.2 Sense-Think-Navigate
9.5 Representation and Robot Navigation
270(1)
9.5.1 Animals to Animats
9.5.2 SLAM and AntiSLAM
9.6 Spatial Behaviour and the Reorientation Task
271(2)
9.6.1 Navigational Cues
9.6.2 The Reorientation Task
9.7 Basic Findings with the Reorientation Task
273(2)
9.7.1 Rotational Error
9.7.2 Mandatory Geometry
9.8 Representational Theories of Reorientation
275(2)
9.8.1 The Geometric Module
9.8.2 Geometry and Representation
9.9 Whither the Geometric Module?
277(1)
9.9.1 Modifying Modularity
9.9.2 Non-modular Reorientation
9.10 Reactive Robots and Their Evolution
278(2)
9.10.1 New Wave Robotics
9.10.2 Evolving Robots
9.11 Reactive Robots and Rotational Errors
280(2)
9.11.1 Reactive Reorientation
9.11.2 Representative Reaction
9.12 Reorienting LEGO Robots
282(1)
9.12.1 Motivating AntiSLAM
9.12.2 Ultrasonic Sensors
9.13 AntiSLAM Overview
283(1)
9.13.1 Modifying Vehicle 2
9.14 From Vehicle 2 Onward
284(1)
9.14.1 Foraging for Parts
9.15 A Spine for AntiSLAM
285(1)
9.15.1 Creating a Chassis
9.16 Structure from Motors
286(1)
9.16.1 Motors and Axles
9.17 Sensor Supports and Front Wheels
286(2)
9.17.1 Creating Sensor Supports
9.17.2 Front Wheels
9.18 Sensor Arrays
288(1)
9.18.1 Mounting Sensors
9.19 AntiSLAM's Rear Wheels and Cables
289(1)
9.19.1 Rear Wheels
9.19.2 Connecting Cables
9.20 AntiSLAM Level o: Drive
290(1)
9.20.1 Subsumption Architecture
9.21 Level 1: Escape
291(1)
9.21.1 Importance of Escaping
9.22 Level 2: Following Walls
292(1)
9.22.1 Biasing Lower-Level Behaviour
9.23 Level 3: Using Light as a Local Feature
293(2)
9.23.1 Local Feature Sensitivity
9.24 Level 1: Determining Motor Speeds
295(1)
9.24.1 Finally, Level -1
9.25 The Main Task
295(2)
9.25.1 Putting It Together
9.26 Primitive Behaviours
297(1)
9.26.1 Levels-1+0
9.26.2 Levels-1+0+1
9.27 Bias and Reorientation
298(2)
9.27.1 Levels-1+0+1+2
9.27.2 Rotational Error and AntiSLAM
9.28 Beyond Rotational Error
300(2)
9.28.1 Nolfi and Beyond
9.28.2 Feature Sensitivity
9.29 Moving the Local Feature
302(2)
9.29.1 Moving the Light
9.30 All Levels with No Local Feature
304(1)
9.30.1 Turning Lights Off
9.31 Reorienting Reorientation
305(2)
9.31.1 Building a Better Mouse
9.31.2 Different Views of Reorientation
9.32 Hard Fun and Hard Science
307(2)
9.32.1 Hard Fun
9.32.2 Hard Science
References 309(20)
Index 329
Michael Dawson is a professor of psychology at theUniversity of Alberta. He is the author of numerous scientific papersas well as Understanding Cognitive Science, Mindsand Machines, and Connectionism: A Hands-on Approach.Brian Dupuis is a research assistant in psychology atthe University of Alberta. Michael Wilson is a biologymajor at the University of Alberta.