Overarching research goal

follow link We try to understand how physical circuits in the body and environment contribute to solve computational problems to do with efficient survival in unstructured environments. We observe that the brain sometimes withdraws from direct close loop control between sensed states and actions to an indirect mode of involvement where it controls joint impedance to allow physical circuits make meaningful contributions to survive, like when a bicycle rider would stand up with bent knees when riding on a bumpy terrain. Furthermore, we observe that long-term evolution tunes sliding surfaces in joints and accompanying muscles that apparently simplify closed loop control in the central nervous system (CNS). We call this kind of contributions made by physical circuits to simplify conventional numerical computation at the level of CNS to be “morphological computation”. Though most robots still find it difficult to exploit the full potential of morphological computation, they provide a good paradigm to test many underlying hypotheses.

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