Steve Battle Steve.Battle@uwe.ac.uk
Senior Lecturer
A mobile homeostat with three degrees of freedom
Battle, Steve
Authors
Abstract
In the foundational cybernetics text, Design for a Brain, W. Ross Ashby introduces an adaptive system called the homeostat, and speculates about the possibility of creating a mobile homeostat “with its critical states set so that it seeks situations of high illumination.” Simulations demonstrate the viability of using the classic homeostat architecture to control a mobile robot demonstrating ultrastability in adapting to an environment where the goal is to stay within range of a single source of illumination. This paper explores a novel physical embodiment of Ashby’s classic homeostat in a mobile robot with three degrees of freedom (2 translational, 1 rotational). The hypothesis, borne out by tests, is that the topological configuration of the robot as determined by simulation, will carry over into the physical robot.
Citation
Battle, S. (2015, September). A mobile homeostat with three degrees of freedom. Paper presented at IMA Conference on Mathematics of Robotics, St Anne’s College, University of Oxford, UK
Presentation Conference Type | Conference Paper (unpublished) |
---|---|
Conference Name | IMA Conference on Mathematics of Robotics |
Conference Location | St Anne’s College, University of Oxford, UK |
Start Date | Sep 9, 2015 |
End Date | Sep 11, 2015 |
Publication Date | Sep 9, 2015 |
Publicly Available Date | Jun 5, 2019 |
Peer Reviewed | Peer Reviewed |
Keywords | robotics, cybernetics, homeostat, ashby |
Public URL | https://uwe-repository.worktribe.com/output/805895 |
Publisher URL | http://ima.org.uk/conferences/conferences_calendar/mathematics_of_robotics.html |
Additional Information | Title of Conference or Conference Proceedings : IMA Conference on Mathematics of Robotics |
Files
MobileHomeostat.pdf
(809 Kb)
PDF
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