Structuring sensory-motor coordination for the acquisition of dynamic identification using PSO

Sensory-motor coordination (SMC) is an important ability for both natural organisms and mobile robots. This work investigates the role that purely reactive SMC has on a robot's ability to perform a deliberative motion identification task. We investigate three conditions under which a robot can utilize SMC, namely arbitrary (the motion strategy of the robot is fixed), adaptable (the motion strategy co-adapts along with the motion identification ability), and pre-adapted (the motion strategy has been pre-adapted under the constraints of the identification task and then fixed). The results show that purely reactive sensory-motor coordination can be exploited to greatly improve performance at a necessarily deliberative task.