Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is lag- ging behind the development of controllers. This has become even more prominent with the advent of compliant, deformable or "soft" bodies. These carry substantial potential regarding their exploitation for control – sometimes referred to as "mor- phological computation" in the sense of offloading computation (...) needed for control to the body. Here, we will argue in favor of a dynamical systems rather than com- putational perspective on the problem. Then, we will look at the pros and cons of simple vs. complex bodies, critically reviewing the attractive notion of “soft” bodies automatically taking over control tasks. We will address another key dimension of the design space – whether model-based control should be used and to what extent it is feasible to develop faithful models for different morphologies. ----- This paper was also published in the 2014 AISB proceedings http://aisb50.org/representation-of-reality-humans-animals-and-machines/ - http://doc.gold.ac.uk/aisb50/. (shrink)

ABSTRACT: A traditional objection to inferentialism states that not all inferences can be meaning-constitutive and therefore inferentialism has to comprise an analytic-synthetic distinction. As a response, Peregrin argues that meaning is a matter of inferential rules and only the subset of all the valid inferences for which there is a widely shared corrective behaviour corresponds to rules and so determines meaning. Unfortunately, Peregrin does not discuss what counts as “widely shared”. In the paper, I argue for an empirical plausibility of (...) Peregrin’s proposal. The aim of the paper is to show that we can find examples of meaning-constitutive linguistic action, which sustain Peregrin’s response. The idea is supported by examples of meaning modulation. If Peregrin is right, then we should be able to find specific meaning modulations in which a new meaning is publicly available and modulated in such a way that it has a potential to be widely shared. I believe that binding modulations – a specific type of meaning modulations – satisfy this condition. (shrink)

Engineers fine-tune the design of robot bodies for control purposes, however, a methodology or set of tools is largely absent, and optimization of morphology (shape, material properties of robot bodies, etc.) is lagging behind the development of controllers. This has become even more prominent with the advent of compliant, deformable or ”soft” bodies. These carry substantial potential regarding their exploitation for control—sometimes referred to as ”morphological computation”. In this article, we briefly review different notions of computation by physical systems and (...) propose the dynamical systems framework as the most useful in the context of describing and eventually designing the interactions of controllers and bodies. Then, we look at the pros and cons of simple vs. complex bodies, critically reviewing the attractive notion of ”soft” bodies automatically taking over control tasks. We address another key dimension of the design space—whether model-based control should be used and to what extent it is feasible to develop faithful models for different morphologies. (shrink)

Práce se zabývá filosofickou analýzou vědeckého výzkumu, kterou v polovině minulého století provedla botanička Agnes Arberová. Její koncepce je cenným příspěvkem k otázce kontextu vzniku vědeckého objevu a procesu jeho zdůvodnění v biologických disciplínách. Ve stati se pokusím doložit, že její úvahy mají ráz v zásadě fenomenologický, a proto bude její koncepce interpretována na pozadí úvah Maurice Merleau-Pontyho o tělesné povaze smyslů. Taková interpretace napovídá, že Arberová ve shodě s Merleau-Pontym uvažuje o fenoménech nikoli jako o objektech, které lze zkoumat (...) odděleně, nýbrž nám představuje fenomenální pole, v němž se fenomény vyjevují v souvislosti s předcházející zkušeností. Orientace v předmětu výzkumu lze vnímat jako otázku rovnováhy, jíž badatel výzkumem aktivně vyhledává. (shrink)

After a brief discussion of the terms determinism and free will, the paper sets out to compare some recent philosophical approaches to the problem of free will with a theological anthropology account of the notion. It aims to defend the claim, that even though different kind of questions are asked on both sides, they tackle similar issues and a complementary approach is needed. Recent philosophy considers the problem mostly from the standpoint of logic, naturalist evolutionary ontology and cognitive science. In (...) the Christian theological tradition, the idea of free will has been discussed mostly from the perspective of the problem of sin and grace, thus on the grounds of soteriology, hamartiology and theological ethics. The paper shows similarities between the approaches, mainly between the problem of physical determinism and theological determinism and also divine foreknowledge. (shrink)

A large body of compelling evidence has been accumulated demonstrating that embodiment – the agent’s physical setup, including its shape, materials, sensors and actuators – is constitutive for any form of cognition and as a consequence, models of cognition need to be embodied. In contrast to methods from empirical sciences to study cognition, robots can be freely manipulated and virtually all key variables of their embodiment and control programs can be systematically varied. As such, they provide an extremely powerful tool (...) of investigation. We present a robotic bottom-up or developmental approach, focusing on three stages: (a) low-level behaviors like walking and reflexes, (b) learning regularities in sensorimotor spaces, and (c) human-like cognition. We also show that robotic based research is not only a productive path to deepening our understanding of cognition, but that robots can strongly benefit from human-like cognition in order to become more autonomous, robust, resilient, and safe. (shrink)

In this paper, I discuss a specific approach to measuring and comparing the simplicity of theories that is based on Lewis’s notion of fundamental properties. In particular, I discuss the criterion of simplicity as stated by Williams. According to Williams, the best candidate for a theory is the one which has the shortest definition in terms of fundamental properties. The aim of this paper is to show that the criterion thus specified has two constraints. First, the criterion is not applicable (...) to cases in which candidates for theories that specify fundamental properties are compared. Secondly, the applicability of the criterion in social sciences seems to be unwarranted. (shrink)

According to the standard interpretation of Lewis’s theory of predicate meaning (the U&N theory), the naturalness of meaning candidates should be stated metaphysically - as a length of definition in terms of fundamental properties. Recently, Weatherson has criticized the U&N theory and argued that the criterion of naturalness should be stated epistemologically - as the amount of evidence needed to form a belief. Despite the criticism, his attitude towards the U&N theory is quite relaxed. According to Weatherson, the U&N theory (...) can be used as a good heuristic for delivering the correct verdicts when doing applied semantics, i.e., when we try to determine the best meaning candidate for a particular predicate. In this paper, I try to show that the “good heuristic strategy” is of no use because A) there is no guarantee that the epistemological and the metaphysical criteria of naturalness deliver the same verdicts and B) even if they deliver the same verdicts, the difference in their theoretical backgrounds may affect arguments which rely on the verdicts. The difference will be shown by drawing on the example of Theodore Sider and his use of the U&N theory. (shrink)

The contribution of the body to cognition and control in natural and artificial agents is increasingly described as “off-loading computation from the brain to the body”, where the body is said to perform “morphological computation”. Our investigation of four characteristic cases of morphological computation in animals and robots shows that the ‘off-loading’ perspective is misleading. Actually, the contribution of body morphology to cognition and control is rarely computational, in any useful sense of the word. We thus distinguish (1) morphology that (...) facilitates control, (2) morphology that facilitates perception and the rare cases of (3) morphological computation proper, such as ‘reservoir computing.’ where the body is actually used for computation. This result contributes to the understanding of the relation between embodiment and computation: The question for robot design and cognitive science is not whether computation is offloaded to the body, but to what extent the body facilitates cognition and control – how it contributes to the overall ‘orchestration’ of intelligent behaviour. (shrink)

The human self has many facets: there is the physical body and then there are different concepts or representations supported by processes in the brain such as the ecological, social, temporal, conceptual, and experiential self. The mechanisms of operation and formation of the self are, however, largely unknown. The basis is constituted by the ecological or sensorimotor self that deals with the configuration of the body in space and its action possibilities. This self is prereflective, prelinguistic, and initially perhaps even (...) largely independent of visual inputs. Instead, somatosensory (tactile and proprioceptive) information both before and after birth may play a key part. In this paper, we propose that self-touch experience may be a fundamental mechanisms to bootstrap the formation of the sensorimotor self and perhaps even beyond. We will investigate this from the perspectives of phenomenology, developmental psychology, and neuroscience. In light of the evidence from fetus and infant development, we will speculate about the possible mechanisms that may drive the formation of first body representations drawing on self-touch experience. (shrink)

We have been observing how infants between 3 and 21 months react when a vibrotactile stimulation (a buzzer) is applied to different parts of their bodies. Responses included in particular movement of the stimulated body part and successful reaching for and removal of the buzzer. Overall, there is a pronounced developmental progression from general to specific movement patterns, especially in the first year. In this article we review the series of studies we conducted and then focus on possible mechanisms that (...) might explain what we observed. One possible mechanism might rely on the brain extracting “sensorimotor contingencies” linking motor actions and resulting sensory consequences. This account posits that infants are driven by intrinsic motivation that guides exploratory motor activity, at first generating random motor babbling with self-touch occurring spontaneously. Later goal-oriented motor behavior occurs, with self-touch as a possible effective tool to induce informative contingencies. We connect this sensorimotor view with a second possible account that appeals to the neuroscientific concepts of cortical maps and coordinate transformations. In this second account, the improvement of reaching precision is mediated by refinement of neuronal maps in primary sensory and motor cortices—the homunculi—as well as in frontal and parietal corti- cal regions dedicated to sensorimotor processing. We complement this theoretical account with modeling on a humanoid robot with artificial skin where we implemented reaching for tactile stimuli as well as learning the “somatosensory homunculi”. We suggest that this account can be extended to reflect the driving role of sensorimotor contingencies in human development. In our conclusion we consider possible extensions of our current experiments which take account of predictions derived from both these kinds of models. (shrink)

An action-oriented perspective changes the role of an individual from a passive observer to an actively engaged agent interacting in a closed loop with the world as well as with others. Cognition exists to serve action within a landscape that contains both. This chapter surveys this landscape and addresses the status of the pragmatic turn. Its potential influence on science and the study of cognition are considered (including perception, social cognition, social interaction, sensorimotor entrainment, and language acquisition) and its impact (...) on how neuroscience is studied is also investigated (with the notion that brains do not passively build models, but instead support the guidance of action). A review of its implications in robotics and engineering includes a discussion of the application of enactive control principles to couple action and perception in robotics as well as the conceptualization of system design in a more holistic, less modular manner. Practical applications that can impact the human condition are reviewed (e.g., educational applications, treatment possibilities for developmental and psychopathological disorders, the development of neural prostheses). All of this foreshadows the potential societal implications of the pragmatic turn. The chapter concludes that an action-oriented approach emphasizes a continuum of interaction between technical aspects of cognitive systems and robotics, biology, psychology, the social sciences, and the humanities, where the individual is part of a grounded cultural system. (shrink)

Engineers fine-tune the design of robot bodies for control purposes; however, a methodology or set of tools is largely absent, and optimization of morphology is lagging behind the development of controllers. This has become even more prominent with the advent of compliant, deformable or ‘soft’ bodies. These carry substantial potential regarding their exploitation for control—sometimes referred to as ‘morphological computation’. In this article, we briefly review different notions of computation by physical systems and propose the dynamical systems framework as the (...) most useful in the context of describing and eventually designing the interactions of controllers and bodies. Then, we look at the pros and cons of simple versus complex bodies, critically reviewing the attractive notion of ‘soft’ bodies automatically taking over control tasks. We address another key dimension of the design space—whether model-based control should be used and to what extent it is feasible to develop faithful models for different morphologies. (shrink)

In a recent article, Matej Cíbik claims that some tattoos are immoral because they are imprudent. (Cíbik 2020) In response, I argue that a tattoo can only be immoral if it causes harm to a third party, so that no tattoo is immoral simply because it is reckless. Conflating prudential and moral requirements in the way that Cíbik does would strike at the heart of liberalism, and has deeply counter-intuitive consequences, as we can see when we consider Cíbik's own (...) discussions of suicidal individuals and smokers. After discussing the role of the self/other distinction in liberal moral philosophy, I affirm both the moral neutrality of tattoos and the importance of adopting non-judgemental attitudes towards the choices which a person makes concerning her own body. (shrink)