IIAE CONFERENCE SYSTEM, The 5th IIAE International Conference on Intelligent Systems and Image Processing 2017 (ICISIP2017)

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Environmental and Structural Effects on Physical Reservoir Computing with Tensegrity
Kenichi Fujita, Syogo Yonekura, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

Last modified: 2017-07-19

Abstract


It is said that some natural animals outsources functions such as control of their bodies to their bodies themselves. This kind of calculation is called morphological computation. Physical reservoir computing, which uses a body itself as a neural network-like system, is one approach of this.

This paper describes the effects of body structures and environments around the bodies for computational abilities. In this research tensegrity-like structure, made of compressive elements and tensile elements which are made of springs, is used as a body structure. We demonstrated that when spring constant was set to be smaller and easy to move their computational ability rose. We also showed that when input amplitude, which is a length of nodes that input was given, was set to be smaller, computational ability rose In addition, the environments around the body were shown to have large effects on computational ability. The results are summarized into four features. First, a softer body has higher computational ability. Second, input amplitude can control the past memories of the system. Third, the best input position exists which maximizes the computational ability. Fourth, the environments have effects on the system and its computational ability.

 


Keywords


Reservoir Computing;Morphological Computation;Body Structure.

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