ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY

Marti Sanchez-fibla, Ulysses Bernardet, Erez Wasserman, Tatiana Pelc, Matti Mintz, Jadin C. Jackson, Carien Lansink, Cyriel Pennartz, Paul F. M. J. Verschure

Research output: Contribution to journalArticle

Abstract

Rodents are optimal real-world foragers that regulate internal states maintaining a dynamic stability with their surroundings. How these internal drive based behaviors are regulated remains unclear. Based on the physiological notion of allostasis, we investigate a minimal control system able to approximate their behavior. Allostasis is the process of achieving stability with the environment through change, opposed to homeostasis which achieves it through constancy. Following this principle, the so-called allostatic control system orchestrates the interaction of the homeostatic modules by changing their desired values in order to achieve stability. We use a minimal number of subsystems and estimate the model parameters from rat behavioral data in three experimental setups: free exploration, presence of reward, delivery of cues with reward predictive value. From this analysis, we show that a rat is influenced by the shape of the arena in terms of its openness. We then use the estimated model configurations to control a simulated and real robot which captures essential properties of the observed rat behavior. The allostatic reactive control model is proposed as an augmentation of the Distributed Adaptive Control architecture and provides a further contribution towards the realization of an artificial rodent.
Original languageEnglish
Pages (from-to)377-403
JournalAdvances in Complex Systems
Volume13
Issue number03
DOIs
Publication statusPublished - 1 Jun 2010

Fingerprint

Rats
Robots
Control systems
Rodentia

Cite this

Sanchez-fibla, M., Bernardet, U., Wasserman, E., Pelc, T., Mintz, M., Jackson, J. C., ... Verschure, P. F. M. J. (2010). ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY. Advances in Complex Systems, 13(03), 377-403. https://doi.org/10.1142/S0219525910002621
Sanchez-fibla, Marti ; Bernardet, Ulysses ; Wasserman, Erez ; Pelc, Tatiana ; Mintz, Matti ; Jackson, Jadin C. ; Lansink, Carien ; Pennartz, Cyriel ; Verschure, Paul F. M. J. / ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY. In: Advances in Complex Systems. 2010 ; Vol. 13, No. 03. pp. 377-403.
@article{aa4debcf6e0442c193dd1244ee27bc62,
title = "ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY",
abstract = "Rodents are optimal real-world foragers that regulate internal states maintaining a dynamic stability with their surroundings. How these internal drive based behaviors are regulated remains unclear. Based on the physiological notion of allostasis, we investigate a minimal control system able to approximate their behavior. Allostasis is the process of achieving stability with the environment through change, opposed to homeostasis which achieves it through constancy. Following this principle, the so-called allostatic control system orchestrates the interaction of the homeostatic modules by changing their desired values in order to achieve stability. We use a minimal number of subsystems and estimate the model parameters from rat behavioral data in three experimental setups: free exploration, presence of reward, delivery of cues with reward predictive value. From this analysis, we show that a rat is influenced by the shape of the arena in terms of its openness. We then use the estimated model configurations to control a simulated and real robot which captures essential properties of the observed rat behavior. The allostatic reactive control model is proposed as an augmentation of the Distributed Adaptive Control architecture and provides a further contribution towards the realization of an artificial rodent.",
author = "Marti Sanchez-fibla and Ulysses Bernardet and Erez Wasserman and Tatiana Pelc and Matti Mintz and Jackson, {Jadin C.} and Carien Lansink and Cyriel Pennartz and Verschure, {Paul F. M. J.}",
year = "2010",
month = "6",
day = "1",
doi = "10.1142/S0219525910002621",
language = "English",
volume = "13",
pages = "377--403",
number = "03",

}

Sanchez-fibla, M, Bernardet, U, Wasserman, E, Pelc, T, Mintz, M, Jackson, JC, Lansink, C, Pennartz, C & Verschure, PFMJ 2010, 'ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY', Advances in Complex Systems, vol. 13, no. 03, pp. 377-403. https://doi.org/10.1142/S0219525910002621

ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY. / Sanchez-fibla, Marti; Bernardet, Ulysses; Wasserman, Erez; Pelc, Tatiana; Mintz, Matti; Jackson, Jadin C.; Lansink, Carien; Pennartz, Cyriel; Verschure, Paul F. M. J.

In: Advances in Complex Systems, Vol. 13, No. 03, 01.06.2010, p. 377-403.

Research output: Contribution to journalArticle

TY - JOUR

T1 - ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY

AU - Sanchez-fibla, Marti

AU - Bernardet, Ulysses

AU - Wasserman, Erez

AU - Pelc, Tatiana

AU - Mintz, Matti

AU - Jackson, Jadin C.

AU - Lansink, Carien

AU - Pennartz, Cyriel

AU - Verschure, Paul F. M. J.

PY - 2010/6/1

Y1 - 2010/6/1

N2 - Rodents are optimal real-world foragers that regulate internal states maintaining a dynamic stability with their surroundings. How these internal drive based behaviors are regulated remains unclear. Based on the physiological notion of allostasis, we investigate a minimal control system able to approximate their behavior. Allostasis is the process of achieving stability with the environment through change, opposed to homeostasis which achieves it through constancy. Following this principle, the so-called allostatic control system orchestrates the interaction of the homeostatic modules by changing their desired values in order to achieve stability. We use a minimal number of subsystems and estimate the model parameters from rat behavioral data in three experimental setups: free exploration, presence of reward, delivery of cues with reward predictive value. From this analysis, we show that a rat is influenced by the shape of the arena in terms of its openness. We then use the estimated model configurations to control a simulated and real robot which captures essential properties of the observed rat behavior. The allostatic reactive control model is proposed as an augmentation of the Distributed Adaptive Control architecture and provides a further contribution towards the realization of an artificial rodent.

AB - Rodents are optimal real-world foragers that regulate internal states maintaining a dynamic stability with their surroundings. How these internal drive based behaviors are regulated remains unclear. Based on the physiological notion of allostasis, we investigate a minimal control system able to approximate their behavior. Allostasis is the process of achieving stability with the environment through change, opposed to homeostasis which achieves it through constancy. Following this principle, the so-called allostatic control system orchestrates the interaction of the homeostatic modules by changing their desired values in order to achieve stability. We use a minimal number of subsystems and estimate the model parameters from rat behavioral data in three experimental setups: free exploration, presence of reward, delivery of cues with reward predictive value. From this analysis, we show that a rat is influenced by the shape of the arena in terms of its openness. We then use the estimated model configurations to control a simulated and real robot which captures essential properties of the observed rat behavior. The allostatic reactive control model is proposed as an augmentation of the Distributed Adaptive Control architecture and provides a further contribution towards the realization of an artificial rodent.

UR - https://www.worldscientific.com/doi/abs/10.1142/S0219525910002621

U2 - 10.1142/S0219525910002621

DO - 10.1142/S0219525910002621

M3 - Article

VL - 13

SP - 377

EP - 403

IS - 03

ER -

Sanchez-fibla M, Bernardet U, Wasserman E, Pelc T, Mintz M, Jackson JC et al. ALLOSTATIC CONTROL FOR ROBOT BEHAVIOR REGULATION: A COMPARATIVE RODENT-ROBOT STUDY. Advances in Complex Systems. 2010 Jun 1;13(03):377-403. https://doi.org/10.1142/S0219525910002621