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Allostatic Control For Robot Behavior Regulation: A Comparative Rodent-Robot Study

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  • MARTI SANCHEZ-FIBLA

    (Laboratory for Synthetic Perceptive, Emotive and Cognitive Systems (SPECS), Universitat Pompeu Fabra, Carrer de Roc Boronat 138, E-08018, Barcelona, Spain)

  • ULYSSES BERNARDET

    (Laboratory for Synthetic Perceptive, Emotive and Cognitive Systems (SPECS), Universitat Pompeu Fabra, Carrer de Roc Boronat 138, E-08018, Barcelona, Spain)

  • EREZ WASSERMAN

    (Psycho-biology Research Unit, Tel Aviv University, Tel Aviv, Israel)

  • TATIANA PELC

    (Psycho-biology Research Unit, Tel Aviv University, Tel Aviv, Israel)

  • MATTI MINTZ

    (Psycho-biology Research Unit, Tel Aviv University, Tel Aviv, Israel)

  • JADIN C. JACKSON

    (SILS Swammerdam Institute for Life Sciences, University Van Amsterdam, Amsterdam, Holland)

  • CARIEN LANSINK

    (University of Maryland, MD, U.S.A.)

  • CYRIEL PENNARTZ

    (SILS Swammerdam Institute for Life Sciences, University Van Amsterdam, Amsterdam, Holland)

  • PAUL F. M. J. VERSCHURE

    (SPECS, IUA, Universitat Pompeu Fabra, Carrer de Roc Boronat 138, E-08018, Barcelona, Spain;
    ICREA Institució Catalana de Recerca i Estudis Avançats, Passeig Lluís Companys 23, E-08010 Barcelona, Spain)

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 ofallostasis, we investigate a minimal control system able to approximate their behavior.Allostasisis 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.

Suggested Citation

  • Marti Sanchez-Fibla & Ulysses Bernardet & Erez Wasserman & Tatiana Pelc & Matti Mintz & Jadin C. Jackson & Carien Lansink & Cyriel Pennartz & Paul F. M. J. Verschure, 2010. "Allostatic Control For Robot Behavior Regulation: A Comparative Rodent-Robot Study," Advances in Complex Systems (ACS), World Scientific Publishing Co. Pte. Ltd., vol. 13(03), pages 377-403.
    • Handle: RePEc:wsi:acsxxx:v:13:y:2010:i:03:n:s0219525910002621
    DOI: 10.1142/S0219525910002621
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