Guided Self-Organization — A First Realization

Abstract

We introduce here an in the following chapters guided self-organization as the combination of specific goals with self-organizing control. As a first realization we propose in this chapter the guidance with supervised learning signals. First, we investigate how these signals can be incorporated into the learning dynamics and present then a simple scenario with direct motor teaching signals.We find that the homeokinetic controller explores around the given motor patterns and thus may find a more suitable behavior for the particular body. Second, we transfer this into a teaching at the level of sensor signals, which is very natural in our setup. Thismechanism of guidance builds the basis for higher level guiding mechanisms as discussed in Chap. 13.