How the Body Shapes the Way We Think

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1 How the Body Shapes the Way We Think A New View of Intelligence Rolf Pfeifer and Josh Bongard with a contribution by Simon Grand Foreword by Rodney Brooks Illustrations by Shun Iwasawa A Bradford Book The MIT Press Cambridge, Massachusetts London, England

2 Contents Foreword by Rodney Brooks Preface xvii xiii I Intelligence, Artificial Intelligence, Embodiment, and What the Book Is About 1 1 Intelligence, Thinking, and Artificial Intelligence Thinking, Cognition, and Intelligence The Mystery of Intelligence Defining Intelligence Artificial Intelligence Embodiment and Its Implications Summary 22 2 Artificial Intelligence: The Landscape Successes of the Classical Approach Problems of the Classical Approach The Embodied Turn The Role of Neuroscience Diversification Biorobotics Developmental Robotics Ubiquitous Computing and Interfacing Technology Artificial Life and Multiagent Systems Evolutionary Robotics Summary 54

3 VIII Contents II Toward a Theory of Intelligence 57 3 Prerequisites for a Theory of Intelligence Level of Generality and Form of Theory Diversity-Compliance Frame of Reference The Synthetic Methodology Time Perspectives Emergence Summary 88 4 Intelligent Systems: Properties and Principles Real Worlds and Virtual Worlds Properties of Complete Agents Agent Design Principle 1: The Three-Constituents Principle Agent Design Principle 2: The Complete-Agent Principle Agent Design Principle 3: Cheap Design Agent Design Principle 4: Redundancy Agent Design Principle 5: Sensory-Motor Coordination Agent Design Principle 6: Ecological Balance Agent Design Principle 7: Parallel, Loosely Coupled Processes Agent Design Principle 8: Value Summary and Conclusions Development: From Locomotion to Cognition Motivation Toward Developmental Robot Design From Locomotion to Cognition: A Case Study From Gait Patterns to Body Image to Cognition The Symbol Grounding Problem Matching Brain and Body Dynamics Broadening the Scope: Other Aspects of Development Learning in Embodied Systems Social Interaction Development: Where Are We and Where Do We Go from Here? 173

4 Contents IX 5.11 Summary: Design Principles for Developmental Systems Evolution: Cognition from Scratch Motivation The Basics of Evolutionary Computation The Origins of Evolutionary Computation Artificial Evolution in the Real World: On Pipes, Antennas, and Electronic Circuits Evolutionary Robotics Evolving Morphology and Control Genetic Regulatory Networks and Developmental Plasticity Self-Organization: The Powerful Ally of Mutation and Selection Artificial Evolution: Where Are We and Where Do We Go from Here? Summary: Design Principles for Evolutionary Systems Collective Intelligence: Cognition from Interaction Motivation Agent-Based Modeling Simulation versus Real Robots Groups of Robots A Note on Cooperation Modular Robots Scalability, Self-Assembly, Self-Repair, Homogeneity, and Heterogeneity Self-Reproducing Machines Collective Intelligence: Where Are We and Where Do We Go from Here? Summary: Design Principles for Collective Systems 241 III Applications and Case Studies Ubiquitous Computing and Interfacing Technology Ubiquitous Technology as Scaffolding Ubiquitous Technology: Properties and Principles Interacting with Ubiquitous Technology 263

5 X Contents 8.4 Cyborgs Summary and Conclusions Building Intelligent Companies Management and Entrepreneurship: Decision and Action under Uncertainty Companies as Embodied Systems A Synthetic Approach to Management Design Principles for Building Intelligent Companies Corroborating the Speculations Summary and Conclusions Where Is Human Memory? Introduction The Storehouse Metaphor and Its Problems Concepts of Memory The Frame-of-Reference Problem in Memory Research: Ashby's Proposal The Embodied View of Memory: Applying the Design Principles for Intelligent Systems Implications for Memory Research: Summary and Speculations Robotic Technology in Everyday Life Introduction: Everyday Robots Vacuum Cleaners: Roomba, Trilobite, and Similar Species Entertainment Robots Therapeutic, Medical, and Rescue Robots Humanoid Companion Robots Robots Capable of Social Communication Robots Capable of Facial and Bodily Expression A Theoretical Note Summary and Conclusions 348 IV Principles and Insights How the Body Shapes the Way We Think Steps Toward a Theory of Intelligence Selected Highlights 358

6 Contents xi 12.3 Seeing Things Differently Epilogue 370 Notes 373 References 375 Index 389

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