Title:
Implementing Tolman's Schematic Sowbug: Behavior-Based Robotics in the 1930's
Implementing Tolman's Schematic Sowbug: Behavior-Based Robotics in the 1930's
Author(s)
Arkin, Ronald C.
Endo, Yoichiro
Endo, Yoichiro
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Abstract
This paper reintroduces and evaluates the schematic
sowbug proposed by Edward C. Tolman, psychologist,
in 1939. The schematic sowbug is based on Tolman's
purposive behaviorism, and it is believed to be the
first prototype in history that actually implemented a
behavior-based architecture suitable for robotics. The
schematic sowbug navigates the environment based on
two types of vectors, orientation and progression, that
are computed from the values of sensors perceiving
stimuli. Our experiments on both simulation and real
robot proved the legitimacy of Tolman's assumptions,
and the potential of applying the schematic sowbug
model and principles within modern robotics is recognized.
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Date Issued
2000
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Text
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Paper