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Published in:
2012 | OriginalPaper | Chapter
Facing the Unknown — Homeokinesis in a New Representation
Authors : Ralf Der, Georg Martius
Published in: The Playful Machine
Publisher: Springer Berlin Heidelberg
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Homeokinesis has been introduced and analyzed in the preceding chapters on the basis of the time-loop error (TLE). This chapter presents an alternative approach to the general homeokinetic objective by introducing a new representation of the sensorimotor dynamics. This new representation corrects the state dynamics for the predictable changes in the sensor values so that the transformed state is constant except for the interactions with the unknown part of the dynamics. The single-step interaction term will be seen to be identical to the TLE so that the learning dynamics is not altered. However, besides giving an additional motivation for the TLE, this chapter will extend the considerations to the case of several time steps and will eventually consider infinite time horizons making contact with the global Lyapunov exponents and chaos theory.