{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,25]],"date-time":"2026-07-25T23:00:05Z","timestamp":1785020405821,"version":"3.55.0"},"reference-count":74,"publisher":"MIT Press - Journals","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Artificial Life"],"published-print":{"date-parts":[[2013,1]]},"abstract":"<jats:p> Embodiment has led to a revolution in robotics by not thinking of the robot body and its controller as two separate units, but taking into account the interaction of the body with its environment. By investigating the effect of the body on the overall control computation, it has been suggested that the body is effectively performing computations, leading to the term morphological computation. Recent work has linked this to the field of reservoir computing, allowing one to endow morphologies with a theory of universal computation. In this work, we study a family of highly dynamic body structures, called tensegrity structures, controlled by one of the simplest kinds of \u201cbrains.\u201d These structures can be used to model biomechanical systems at different scales. By analyzing this extreme instantiation of compliant structures, we demonstrate the existence of a spectrum of choices of how to implement control in the body-brain composite. We show that tensegrity structures can maintain complex gaits with linear feedback control and that external feedback can intrinsically be integrated in the control loop. The various linear learning rules we consider differ in biological plausibility, and no specific assumptions are made on how to implement the feedback in a physical system. <\/jats:p>","DOI":"10.1162\/artl_a_00080","type":"journal-article","created":{"date-parts":[[2012,11,27]],"date-time":"2012-11-27T14:33:57Z","timestamp":1354026837000},"page":"35-66","source":"Crossref","is-referenced-by-count":114,"title":["Locomotion Without a Brain: Physical Reservoir Computing in Tensegrity Structures"],"prefix":"10.1162","volume":"19","author":[{"given":"K.","family":"Caluwaerts","sequence":"first","affiliation":[{"name":"Ghent University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"M.","family":"D'Haene","sequence":"additional","affiliation":[{"name":"Ghent University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"D.","family":"Verstraeten","sequence":"additional","affiliation":[{"name":"Ghent University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"B.","family":"Schrauwen","sequence":"additional","affiliation":[{"name":"Ghent University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"281","reference":[{"key":"R1","doi-asserted-by":"publisher","DOI":"10.1515\/9781400849512"},{"key":"R2","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(03)00054-7"},{"key":"R3","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms1476"},{"key":"R4","doi-asserted-by":"publisher","DOI":"10.1016\/0006-8993(87)91442-9"},{"key":"R5","doi-asserted-by":"publisher","DOI":"10.1017\/S0022112005007925"},{"key":"R6","volume-title":"Animal locomotion.","author":"Biewener A. A.","year":"2003"},{"key":"R7","unstructured":"Bliss, T. K. (2011). Central pattern generator control of a tensegrity based swimmer. Ph.D. thesis, University of Virginia."},{"key":"R8","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(05)80025-9"},{"key":"R9","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(91)90053-M"},{"key":"R10","doi-asserted-by":"publisher","DOI":"10.1137\/0910062"},{"key":"R11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-00196-3_37"},{"key":"R12","doi-asserted-by":"publisher","DOI":"10.1016\/0020-7683(78)90052-5"},{"key":"R13","first-page":"45","volume-title":"2nd International Conference on Morphological Computation","author":"Caluwaerts K.","year":"2011"},{"key":"R14","volume-title":"Being there: Putting brain, body and world together.","author":"Clark A.","year":"1997"},{"key":"R15","first-page":"47","volume-title":"Rigidity theory and applications","author":"Connelly R.","year":"1999"},{"key":"R16","doi-asserted-by":"publisher","DOI":"10.1511\/1998.2.142"},{"issue":"514","key":"R17","volume":"2","author":"Dambre J.","year":"2012","journal-title":"Scientific Reports"},{"key":"R18","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.neuro.27.070203.144259"},{"key":"R19","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008857906763"},{"key":"R20","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.97.048104"},{"key":"R21","volume-title":"Synergetics: Explorations in the geometry of thinking.","author":"Fuller R. B.","year":"1975"},{"key":"R22","doi-asserted-by":"publisher","DOI":"10.1007\/BF00235671"},{"key":"R23","doi-asserted-by":"publisher","DOI":"10.1093\/imamat\/hxq065"},{"key":"R24","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-32494-1_4"},{"key":"R25","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-012-0516-4"},{"key":"R26","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-012-0471-0"},{"key":"R27","volume-title":"The organization of behavior.","author":"Hebb D. O.","year":"1949"},{"key":"R28","author":"Hoerzer G. M.","year":"2012","journal-title":"Submitted to Cerebral Cortex"},{"key":"R29","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.03.005"},{"key":"R30","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2008.03.014"},{"key":"R31","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.physiol.59.1.575"},{"key":"R32","doi-asserted-by":"publisher","DOI":"10.1242\/jcs.00359"},{"key":"R33","doi-asserted-by":"publisher","DOI":"10.1242\/jcs.00360"},{"key":"R35","doi-asserted-by":"publisher","DOI":"10.1126\/science.1091277"},{"key":"R36","volume-title":"Linear estimation.","author":"Kailath T.","year":"2000"},{"key":"R37","doi-asserted-by":"publisher","DOI":"10.1017\/S0022112009992357"},{"key":"R38","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4284-09.2010"},{"key":"R39","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1106904108"},{"key":"R40","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1000007"},{"key":"R41","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0505220103"},{"key":"R42","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.0020165"},{"key":"R43","doi-asserted-by":"publisher","DOI":"10.1162\/089976602760407955"},{"key":"R44","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.9.7.258"},{"key":"R45","doi-asserted-by":"publisher","DOI":"10.1007\/BF00449593"},{"key":"R46","doi-asserted-by":"publisher","DOI":"10.1007\/BF00319514"},{"key":"R47","doi-asserted-by":"publisher","DOI":"10.1016\/B978-190399637-9\/50038-X"},{"key":"R48","doi-asserted-by":"publisher","DOI":"10.1007\/BF00275687"},{"key":"R49","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.03.003"},{"key":"R50","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2005.1507415"},{"key":"R51","volume-title":"How the body shapes the way we think: A new view of intelligence.","author":"Pfeifer R.","year":"2007"},{"key":"R52","first-page":"90","volume-title":"2nd International Conference on Morphological Computation","author":"Reis M.","year":"2011"},{"key":"R53","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2009.0240"},{"key":"R54","doi-asserted-by":"publisher","DOI":"10.1083\/jcb.33.3.543"},{"key":"R55","doi-asserted-by":"crossref","first-page":"318","DOI":"10.7551\/mitpress\/5236.001.0001","volume-title":"Parallel distributed processing","volume":"1","author":"Rumelhart D. E.","year":"1986"},{"key":"R56","doi-asserted-by":"publisher","DOI":"10.1016\/0893-6080(89)90044-0"},{"key":"R57","doi-asserted-by":"publisher","DOI":"10.1038\/35044563"},{"key":"R58","volume-title":"Tensegrity systems.","author":"Skelton R. E.","year":"2009"},{"key":"R59","volume-title":"Continuous tension, discontinuous compression structures.","author":"Snelson K.","year":"1965"},{"key":"R60","first-page":"69","volume-title":"Advances in applied mechanics","author":"Sultan C.","year":"2009"},{"key":"R61","doi-asserted-by":"publisher","DOI":"10.1016\/S0141-0296(01)00130-4"},{"key":"R62","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2009.07.018"},{"issue":"5","key":"R63","first-page":"516","volume":"5","author":"Tani J.","year":"1998","journal-title":"Journal of Consciousness Studies"},{"key":"R64","doi-asserted-by":"publisher","DOI":"10.1016\/S1937-6448(08)01402-0"},{"key":"R65","doi-asserted-by":"publisher","DOI":"10.1099\/mic.0.029595-0"},{"key":"R66","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2006.889200"},{"key":"R67","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2011.2161771"},{"key":"R68","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2007.04.003"},{"key":"R69","doi-asserted-by":"publisher","DOI":"10.1038\/nrm2594"},{"key":"R70","doi-asserted-by":"publisher","DOI":"10.1016\/0301-0082(96)00028-7"},{"key":"R71","doi-asserted-by":"publisher","DOI":"10.3758\/BF03196322"},{"key":"R72","unstructured":"Wroldsen, A. S. (2007). Modelling and control of tensegrity structures. Ph.D. thesis, Norwegian University of Science and Technology."},{"key":"R73","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5628051"},{"key":"R76","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-0169(1996)33:1<22::AID-CM3>3.0.CO;2-K"},{"key":"R77","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2005.10.011"}],"container-title":["Artificial Life"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mitpressjournals.org\/doi\/pdf\/10.1162\/ARTL_a_00080","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,3,12]],"date-time":"2021-03-12T21:46:42Z","timestamp":1615585602000},"score":1,"resource":{"primary":{"URL":"https:\/\/direct.mit.edu\/artl\/article\/19\/1\/35-66\/2755"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,1]]},"references-count":74,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2013,1]]}},"alternative-id":["10.1162\/ARTL_a_00080"],"URL":"https:\/\/doi.org\/10.1162\/artl_a_00080","relation":{},"ISSN":["1064-5462","1530-9185"],"issn-type":[{"value":"1064-5462","type":"print"},{"value":"1530-9185","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,1]]}}}