The implications of embodiment for behavior and cognition: animal and robotic case studies

In this paper, we will argue that if we want to understand the function of the brain (or the control in the case of robots), we must understand how the brain is embedded into the physical system, and how the organism interacts with the real world. While embodiment has often been used in its trivial meaning, i.e. 'intelligence requires a body', the concept has deeper and more important implications, concerned with the relation between physical and information (neural, control) processes. A number of case studies are presented to illustrate the concept. These involve animals and robots and are concentrated around locomotion, grasping, and visual perception. A theoretical scheme that can be used to embed the diverse case studies will be presented. Finally, we will establish a link between the low-level sensory-motor processes and cognition. We will present an embodied view on categorization, and propose the concepts of 'body schema' and 'forward models' as a natural extension of the embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5

Motility at the origin of life: Its characterization and a model

Due to recent advances in synthetic biology and artificial life, the origin of life is currently a hot topic of research. We review the literature and argue that the two traditionally competing "replicator-first" and "metabolism-first" approaches are merging into one integrated theory of individuation and evolution. We contribute to the maturation of this more inclusive approach by highlighting some problematic assumptions that still lead to an impoverished conception of the phenomenon of life. In particular, we argue that the new consensus has so far failed to consider the relevance of intermediate timescales. We propose that an adequate theory of life must account for the fact that all living beings are situated in at least four distinct timescales, which are typically associated with metabolism, motility, development, and evolution. On this view, self-movement, adaptive behavior and morphological changes could have already been present at the origin of life. In order to illustrate this possibility we analyze a minimal model of life-like phenomena, namely of precarious, individuated, dissipative structures that can be found in simple reaction-diffusion systems. Based on our analysis we suggest that processes in intermediate timescales could have already been operative in prebiotic systems. They may have facilitated and constrained changes occurring in the faster- and slower-paced timescales of chemical self-individuation and evolution by natural selection, respectively.Comment: 29 pages, 5 figures, Artificial Lif

The Parliament of Things and the Anthropocene: How to Listen to ‘Quasi-Objects’

Among the contemporary philosophers using the concept of the Anthropocene, Bruno Latour and Isabelle Stengers are prominent examples. The way they use this concept, however, diverts from the most common understanding of the Anthropocene. In fact, their use of this notion is a continuation of their earlier work around the concept of a ‘parliament of things.’ Although mainly seen as a sociology or philosophy of science, their work can be read as philosophy of technology as well. Similar to Latour’s claim that science is Janus-headed, technology has two faces. Faced with the Anthropocene, we need to shift from technologies of control to technologies of negotiations, i.e., a parliament of things. What, however, does a ‘parliament of things’ mean? This paper wants to clarify what is conceptually at stake by framing Latour’s work within the philosophy of Michel Serres and Isabelle Stengers. Their philosophy implies a ‘postlinguistic turn,’ where one can ‘let things speak in their own name,’ without claiming knowledge of the thing in itself. The distinction between object and subject is abolished to go back to the world of ‘quasi-objects’ (Serres). Based on the philosophy of science of Latour and Stengers the possibility for a politics of quasi-objects or a ‘cosmopolitics’ (Stengers) is opened. It is in this framework that their use of the notion of the Anthropocene must be understood and a different view of technology can be conceptualized

IR theory, historical materialism, and the false promise of international historical sociology

The three-decades old call for an inter-disciplinary rapprochement between IR Theory and Historical Sociology, starting in the context of the post-positivist debate in the 1980s, has generated a proliferating repertory of contending paradigms within the field of IR, including Neo-Weberian, Post-Structuralist, and Constructivist approaches. Within the Marxist literature, this project comprises an equally rich and diverse set of theoretical traditions, including World-Systems Theory, Neo-Gramscian IR/IPE, the Amsterdam School, Political Marxism, Neo-Leninism, and Postcolonial Theory. More recently, a “third wave” of approaches has been announced from within the field of IR, suggesting to move the dialogue from inter-disciplinarity towards an integrated super-discipline of International Historical Sociology (IHS). This proposition has been most persistently advanced by advocates of the theory of Uneven and Combined Development (UCD), claiming to constitute a universal, unitary and sociological theory of IR. This article charts the intellectual trajectory of this ongoing IR/HS dialogue. It moves from a critique of Neo-Weberianism to a critique of UCD against the background of the original promise of the turn in IR to Historical Sociology: the supersession of the prevailing rationalism, structuralism, and positivism in extant mainstream IR approaches through the mobilization of alternative and non-positivistic traditions in the social sciences. This critique will be performed by setting UCD in dialogue with Political Marxism. By anchoring both approaches at opposite ends on the spectrum of Marxist conceptions of social science – respectively the scientistic and the historicist - the argument is that UCD reneges on the promise of Historical Sociology for IR by re-aligning, first by default and now by design, with the meta-theoretical premises of Neo-Realism. This is most visibly expressed in the articulation of a deductive-nomological covering law, leading towards acute conceptual and ontological anachronisms, premised on the radical de-historicisation of the fields of ontology, conceptuality and disciplinarity. This includes the semantic neutering and hyper-abstract re-articulation of the very category, which in IR’s self-perception lends legitimacy to its claim of disciplinary distinctiveness: the international. The article concludes by suggesting that an understanding of Marxism as a historicist social science subverts all calls for the construction of grand theories and, a fortiori, a unitary super-discipline of IHS, premised on a set of universal, space-time indifferent, and abstract categories that hold across the spectrum of world history. In contrast, recovering the historicist credentials of Marxism demands a constant temporalisation and specification of the fields of ontology, agency, conceptuality and disciplinarity. The objective is to lay the foundations for a historicist social science of geopolitics

A survey of dextrous manipulation

technical reportThe development of mechanical end effectors capable of dextrous manipulation is a rapidly growing and quite successful field of research. It has in some sense put the focus on control issues, in particular, how to control these remarkably humanlike manipulators to perform the deft movement that we take for granted in the human hand. The kinematic and control issues surrounding manipulation research are clouded by more basic concerns such as: what is the goal of a manipulation system, is the anthropomorphic or functional design methodology appropriate, and to what degree does the control of the manipulator depend on other sensory systems. This paper examines the potential of creating a general purpose, anthropomorphically motivated, dextrous manipulation system. The discussion will focus on features of the human hand that permit its general usefulness as a manipulator. A survey of machinery designed to emulate these capabilities is presented. Finally, the tasks of grasping and manipulation are examined from the control standpoint to suggest a control paradigm which is descriptive, yet flexible and computationally efficient1

Bimanual prehension to a solitary target

Grasping and functionally interacting with a relatively large or awkwardly shaped object requires the independent and cooperative coordination of both limbs. Acknowledging the vital role of visual information in successfully executing any prehensile movements, the present study aimed to clarify how well existing bimanual coordination models (Kelso et al, 1979; Marteniuk & Mackenzie, 1980) can account for bimanual prehension movements targeting a single end-point under varying visual conditions. We therefore, employed two experiments in which vision of the target object and limbs was available or unavailable during a bimanual movement in order to determine the affects of visual or memory-guided control (e.g. feedback vs. feed forward) on limb coordination.Ten right-handed participants (mean age = 24.5) performed a specific bimanual prehension movement targeting a solitary, static object under both visual closed loop (CL) and open loop 2s delay (OL2) conditions. Target location was varied while target amplitude remained constant. Kinematic data (bimanual coupling variables) indicated that regardless of target location, participants employed one of two highly successful movement execution strategies depending on visual feedback availability. During visual (CL) conditions participants employed a ‘dominant-hand initiation’ strategy characterized by a significantly faster right-hand (RH) reaction time and simultaneous hand contact with the target. In contrast, when no visual feedback was available (OL2), participants utilized a ‘search and follow’ strategy characterized by limb coupling at movement onset and a reliance on the dominant RH to contact the target ~62 ms before the left.In conclusion, the common goal parameters of targeting a single object with both hands are maintained and successfully achieved regardless of visual condition. Furthermore, independent programming of each limb is undeniably evident within the behaviours observed providing support for the neural cross-talk theory of bimanual coordination (Marteniuk & Mackenzie, 1980). Whether movement execution is visually (CL) or memory-guided (OL2) there is a clear preference of RH utilization possibly due to its dynamic and/or hemispheric advantages in controlling complex motor behaviours (Gonzalez et al., 2006). Therefore, we propose that bimanual grasping to a solitary target is possibly governed globally by a higher-level structure and successful execution is achieved via independent spinal pathway modulation of limbs