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The robot is self-organized both on the level of the individual wheels and with respect to inter-wheel coordination, which arises exclusively from the mechanical coupling of the individual wheels and segments. For the individual wheel, the generating principle proposed results in locomotive states that correspond to self-organized limit cycles of the sensorimotor loop. Our robot interacts with the environment by monitoring the state of its actuators, that is, via propriosensation. External sensors are absent. In a structured environment the robot shows complex emergent behavior that includes pushing movable blocks around, reversing direction when hitting a wall, and turning when climbing a slope. On flat grounds the robot wiggles in a snake-like manner, when moving at higher velocities. We also investigate the emergence of motor primitives, namely, the route to locomotion, which is characterized by a series of local and global bifurcations in terms of dynamical system theory.<\/jats:p>","DOI":"10.1177\/1059712319855622","type":"journal-article","created":{"date-parts":[[2019,6,27]],"date-time":"2019-06-27T05:36:59Z","timestamp":1561613819000},"page":"285-294","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Embodied robots driven by self-organized environmental feedback"],"prefix":"10.1177","volume":"27","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0753-0066","authenticated-orcid":false,"given":"Frederike","family":"Kubandt","sequence":"first","affiliation":[{"name":"Institute for Theoretical Physics, Goethe University Frankfurt, Frankfurt, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Nowak","sequence":"additional","affiliation":[{"name":"Institute for Theoretical Physics, Goethe University Frankfurt, Frankfurt, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tim","family":"Koglin","sequence":"additional","affiliation":[{"name":"Institute for Theoretical Physics, Goethe University Frankfurt, Frankfurt, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2126-0843","authenticated-orcid":false,"given":"Claudius","family":"Gros","sequence":"additional","affiliation":[{"name":"Institute for Theoretical Physics, Goethe University Frankfurt, Frankfurt, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bulcs\u00fa","family":"S\u00e1ndor","sequence":"additional","affiliation":[{"name":"Institute for Theoretical Physics, Goethe University Frankfurt, Frankfurt, Germany"},{"name":"Department of Physics, Babes-Bolyai University, Cluj-Napoca, Romania"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,6,27]]},"reference":[{"key":"bibr1-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0192469"},{"key":"bibr2-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907265"},{"key":"bibr3-1059712319855622","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2017.00039"},{"key":"bibr4-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2210728"},{"key":"bibr5-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2465849"},{"key":"bibr6-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2017.0101"},{"key":"bibr7-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1177\/1059712307085098"},{"key":"bibr8-1059712319855622","first-page":"166","volume-title":"Proceedings of the Eleventh international conference on the simulation and synthesis of living systems (ALifeXI)","author":"Der R.","year":"2008"},{"key":"bibr9-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1177\/105971230601400202"},{"key":"bibr10-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-20253-7"},{"key":"bibr11-1059712319855622","doi-asserted-by":"publisher","DOI":"10.7551\/978-0-262-31709-2-ch086"},{"key":"bibr12-1059712319855622","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2017.00008"},{"key":"bibr13-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1016\/j.conb.2005.10.011"},{"key":"bibr14-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9985-5"},{"key":"bibr15-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-16265-2"},{"key":"bibr16-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.933629"},{"key":"bibr17-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2004.1521742"},{"key":"bibr18-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/4\/2\/021001"},{"key":"bibr19-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014739"},{"key":"bibr20-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2017.0371"},{"key":"bibr21-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.08.010"},{"key":"bibr22-1059712319855622","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2018.09.009"},{"key":"bibr23-1059712319855622","first-page":"12","volume":"10","author":"Martin L.","year":"2016","journal-title":"Limit-cycle Locomotion. 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