On Cognition as Dynamical Coupling : An Analysis of Behavioral Attractor Dynamics

The interaction of brain, body, and environment can result incomplex behavior with rich dynamics, even for relatively simpleagents. Such dynamics are, however, often difficult to analyze.In this article, we explore the case of a simple simulated roboticagent, equipped with a reactive neurocontroller and an energylevel, which the agent has been evolved to recharge. A dynamicalsystems analysis shows that a non-neural internal state (energylevel), despite its simplicity, dynamically modulates the behavioralattractors of the agent—environment system, such thatthe robot's behavioral repertoire is continually adapted toits current situation and energy level. What emerges is a dynamic,non-deterministic, and highly self-organized action selectionmechanism, originating from the dynamical coupling of four systems(non-neural internal states, neurocontroller, body, and environment)operating at very different timescales