{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T05:55:18Z","timestamp":1775109318294,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2014,5,13]],"date-time":"2014-05-13T00:00:00Z","timestamp":1399939200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Entropy"],"abstract":"<jats:p>Guided self-organization can be regarded as a paradigm proposed to understand how to guide a self-organizing system towards desirable behaviors, while maintaining its non-deterministic dynamics with emergent features. It is, however, not a trivial problem to guide the self-organizing behavior of physically embodied systems like robots, as the behavioral dynamics are results of interactions among their controller, mechanical dynamics of the body, and the environment. This paper presents a guided self-organization approach for dynamic robots based on a coupling between the system mechanical dynamics with an internal control structure known as the attractor selection mechanism. The mechanism enables the robot to gracefully shift between random and deterministic behaviors, represented by a number of attractors, depending on internally generated stochastic perturbation and sensory input. The robot used in this paper is a simulated curved beam hopping robot: a system with a variety of mechanical dynamics which depends on its actuation frequencies. Despite the simplicity of the approach, it will be shown how the approach regulates the probability of the robot to reach a goal through the interplay among the sensory input, the level of inherent stochastic perturbation, i.e., noise, and the mechanical dynamics.<\/jats:p>","DOI":"10.3390\/e16052592","type":"journal-article","created":{"date-parts":[[2014,5,13]],"date-time":"2014-05-13T11:44:55Z","timestamp":1399981495000},"page":"2592-2610","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Guided Self-Organization in a Dynamic Embodied System Based on Attractor Selection Mechanism"],"prefix":"10.3390","volume":"16","author":[{"given":"Surya","family":"Nurzaman","sequence":"first","affiliation":[{"name":"Bio-Inspired Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoxiang","family":"Yu","sequence":"additional","affiliation":[{"name":"Bio-Inspired Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongjae","family":"Kim","sequence":"additional","affiliation":[{"name":"Bio-Inspired Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fumiya","family":"Iida","sequence":"additional","affiliation":[{"name":"Bio-Inspired Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2014,5,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Prokopenko, M. (2007). Advances in Applied Self-organizing Systems, Springer-Verlag.","DOI":"10.1007\/978-1-84628-982-8"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1007\/s12064-011-0141-0","article-title":"Variants of guided self-organization for robot control","volume":"131","author":"Martius","year":"2012","journal-title":"Theory Biosci"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1140\/epjb\/e2008-00175-0","article-title":"Predictive information and explorative behavior of autonomous robots","volume":"63","author":"Ay","year":"2008","journal-title":"Eur. Phys. J. B"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Prokopenko, M., Gerasimov, V., and Tanev, I. (2006, January 25\u201329). Evolving spatiotemporal coordination in a modular robotic system, Rome, Italy.","DOI":"10.1007\/11840541_46"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Prokopenko, M., Gerasimov, V., and Tanev, I. (2006, January 3\u20136). Measuring spatiotemporal coordination in a modular robotic system, Bloomington, USA.","DOI":"10.1007\/11840541_46"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"398","DOI":"10.3390\/a2010398","article-title":"A sensor-based learning algorithm for the self-organization of robot behavior","volume":"2","author":"Hesse","year":"2009","journal-title":"Algorithms"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"e1000348","DOI":"10.1371\/journal.pcbi.1000348","article-title":"What is stochastic resonance? Definitions, misconceptions, debates, and its relevance to biology","volume":"5","author":"McDonnell","year":"2009","journal-title":"PLoS Comput. Biol"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"431","DOI":"10.5194\/npg-17-431-2010","article-title":"Stochastic resonance: From climate to biology","volume":"17","author":"Benzi","year":"2010","journal-title":"Nonlin. Proces. Geophys"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1002\/1439-7641(20020315)3:3<285::AID-CPHC285>3.0.CO;2-A","article-title":"Stochastic resonance in biology how noise can enhance detection of weak signals and help improve biological information processing","volume":"3","author":"Hanggi","year":"2002","journal-title":"Chem. Phys. Chem"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"574","DOI":"10.1038\/nature02404","article-title":"From molecular noise to behavioral variability in a single bacterium","volume":"428","author":"Korobkova","year":"2004","journal-title":"Nature"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"228","DOI":"10.1016\/j.biosystems.2006.08.012","article-title":"Brownian motion, fluctuation and life","volume":"88","author":"Yanagida","year":"2007","journal-title":"BioSyst"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"e49","DOI":"10.1371\/journal.pone.0000049","article-title":"Adaptive response of a gene network to environmental changes by fitness-induced attractor selection","volume":"1","author":"Kashiwagi","year":"2006","journal-title":"PLoS One"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1071","DOI":"10.3390\/e12051071","article-title":"On the interplay between entropy and robustness of gene regulatory networks","volume":"12","author":"Chen","year":"2010","journal-title":"Entropy"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"e443","DOI":"10.1371\/journal.pone.0000443","article-title":"Order in spontaneous behavior","volume":"2","author":"Maye","year":"2007","journal-title":"PLoS One"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"044001","DOI":"10.1088\/1478-3975\/5\/4\/044001","article-title":"Stochastic resonance and the evolution of Daphnia foraging strategy","volume":"5","author":"Dees","year":"2008","journal-title":"Phys. Biol"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1551","DOI":"10.1126\/science.1201187","article-title":"Levy Walks evolve through interaction between movement and environmental complexity","volume":"332","author":"Weissing","year":"2011","journal-title":"Science"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"e16168","DOI":"10.1371\/journal.pone.0016168","article-title":"From Levy to Brownian: A computational model based on biological fluctuation","volume":"6","author":"Nurzaman","year":"2010","journal-title":"PLoS One"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"225","DOI":"10.1177\/1059712312445901","article-title":"Bacteria-inspired underactuated mobile robot based on a biological fluctuation","volume":"20","author":"Nurzaman","year":"2012","journal-title":"Adapt. Behav"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"2019","DOI":"10.1163\/016918611X590229","article-title":"\u201cYuragi-based\u201d adaptive mobile robot search with and without gradient sensing: From bacterial chemotaxis to a Levy walk","volume":"25","author":"Nurzaman","year":"2011","journal-title":"Adv. Robot"},{"key":"ref_20","unstructured":"Nurzaman, S.G., Matsumoto, Y., Nakamura, Y., Koizumi, S., and Ishiguro, H. (2008, January 15\u201317). Attractor selection based biologically inspired navigation system, Seoul, Korea."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1088","DOI":"10.1126\/science.1145803","article-title":"Self-organization, embodiment and biologically inspired robotics","volume":"318","author":"Pfeifer","year":"2007","journal-title":"Science"},{"key":"ref_22","unstructured":"Tschacher, W., and Bergomi, C. (2012). The Implications of Embodiment: Cognition and Communication, Imprint Academic."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"9","DOI":"10.1162\/ARTL_a_00079","article-title":"Morphological computation and morphological control: Steps toward a formal theory and applications","volume":"19","author":"Dzyakanchuk","year":"2013","journal-title":"Artif. Life"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"631","DOI":"10.1016\/j.robot.2006.03.005","article-title":"Sensing through body dynamics","volume":"54","author":"Iida","year":"2006","journal-title":"Rob. Auton. Syst"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"300","DOI":"10.1109\/TMECH.2012.2234759","article-title":"An energy efficient hopping robot based on a free vibration of a curved beam","volume":"19","author":"Reis","year":"2013","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"ref_26","first-page":"1035","article-title":"Minimalistic models of an energy-efficient vertical-hopping robot","volume":"61","author":"Yu","year":"2013","journal-title":"IEEE Trans. Ind. Electron"},{"key":"ref_27","unstructured":"Brubaker, M.A., Sigal, L., and Fleet, D.J. (October, January 29). Estimating contact dynamics, Kyoto, Japan."},{"key":"ref_28","unstructured":"Naf, D. (2011). Quadruped Walking\/Running Simulation. [Semester-Thesis, ETH Zurich]."},{"key":"ref_29","unstructured":"Available online: http:\/\/www.mathworks.com\/products\/simmechanics\/."},{"key":"ref_30","unstructured":"Bentivegna, D., Cheng, G., and Atkeson, C. (2005). Springer Tracts in Advanced Robotics, Springer."},{"key":"ref_31","unstructured":"Jenkins, O.C., and Mataric, M.J. (October, January 30). Deriving action and behavior primitives from human motion data, Lausanne, Switzerland."},{"key":"ref_32","first-page":"1","article-title":"Active sampling and decision making in Drosophila chemotaxis","volume":"2","author":"Stephens","year":"2011","journal-title":"Nat. Commun"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1063\/1.882934","article-title":"Motile behavior of bacteria","volume":"53","author":"Berg","year":"2000","journal-title":"Phys. Today"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"9557","DOI":"10.1523\/JNEUROSCI.19-21-09557.1999","article-title":"The fundamental role of pirouettes in Caenorhabditis elegans chemotaxis","volume":"19","author":"Morse","year":"1999","journal-title":"J. Neurosci"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1242\/jeb.180.1.247","article-title":"Behaviour of dogs during olfactory tracking","volume":"180","author":"Thesen","year":"1993","journal-title":"J. Exp. Biol"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1016\/j.brainresrev.2007.06.027","article-title":"Neural bases of goal-directed locomotion in vertebrates\u2014An overview","volume":"57","author":"Grillner","year":"2008","journal-title":"Brain Res. Rev"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1080\/09540090412331314759","article-title":"Toward open-ended evolutionary robotics: Evolving elementary robotic units able to self-assemble and self-reproduce","volume":"16","author":"Bianco","year":"2011","journal-title":"Conn. Sci"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"219","DOI":"10.1162\/089976600300015961","article-title":"Reinforcement learning in continuous time and space","volume":"12","author":"Doya","year":"2000","journal-title":"Neural Comput"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"151","DOI":"10.1080\/09540090310001655110","article-title":"Developmental robotics: A survey","volume":"15","author":"Lungarella","year":"2003","journal-title":"Conn. Sci"}],"container-title":["Entropy"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1099-4300\/16\/5\/2592\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:11:21Z","timestamp":1760217081000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1099-4300\/16\/5\/2592"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,5,13]]},"references-count":39,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2014,5]]}},"alternative-id":["e16052592"],"URL":"https:\/\/doi.org\/10.3390\/e16052592","relation":{},"ISSN":["1099-4300"],"issn-type":[{"value":"1099-4300","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,5,13]]}}}