|
Implementing Tolman's Schematic Sowbug: Behavior-Based Robotics in the 1930's Yoichiro Endo and Ronald C. Arkin [Download]
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.
|