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A mobile homeostat with three degrees of freedom

Battle, Steve

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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.

Presentation Conference Type Conference Paper (unpublished)
Start Date Sep 9, 2015
Publication Date Sep 9, 2015
Peer Reviewed Peer Reviewed
Institution Citation Battle, S. (2015, September). A mobile homeostat with three degrees of freedom. Paper presented at IMA Conference on Mathematics of Robotics
Keywords robotics, cybernetics, homeostat, ashby
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

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