From embodied mind to embodied robotics: Humanities and system theoretical aspects

After an introduction (1) the article analyzes the evolution of the embodied mind (2), the innovation of embodied robotics (3), and finally discusses conclusions of embodied robotics for human responsibility (4). Considering the evolution of the embodied mind (2), we start with an introduction of complex systems and nonlinear dynamics (2.1), apply this approach to neural self-organization (2.2), distinguish degrees of complexity of the brain (2.3), explain the emergence of cognitive states by complex systems dynamics (2.4), and discuss criteria for modeling the brain as complex nonlinear system (2.5). The innovation of embodied robotics (3) is a challenge of future technology. We start with the distinction of symbolic and embodied AI (3.1) and explain embodied robots as dynamical systems (3.2). Self-organization needs self-control of technical systems (3.3). Cellular neural networks (CNN) are an example of self-organizing technical systems offering new avenues for neurobionics (3.4). In general, technical neural networks support different kinds of learning robots (3.5). Finally, embodied robotics aim at the development of cognitive and conscious robots (3.6).     

Who are we when we are doing what we are doing?: the case for mindful embodiment in ethics case consultation

This paper explores the theory and practice of embodied epistemology or mindful embodiment in ethics case consultation. I argue that not only is this epistemology an ethical imperative to safeguard the integrity of this emerging profession, but that it has the potential to improve the quality of ethics consultation (EC). It also has implications for how ethics consultants are trained and how consultation services are organized. My viewpoint is informed by ethnographic research and by my experimental application of mindful embodiment to the development of an ethics consultation service. My argument proceeds in four phases. First I explore the notion of 'situatedness' in the bioethics literature, identifying gaps in the field's theories as they apply to EC. I then describe my theoretical approach to embodiment grounded in critical-interpretive medical anthropology and autoethnography. I use embodiment to refer to a moral epistemology grounded in the body, comprised of the interplay of physical, symbolic, intersubjective and political elements. Third, I describe how mindful embodiment can inform the role of the ethics consultant and the development of effective training techniques, vocabularies and processes for EC. I also discuss the benefits of this orientation, and the potential harms of ignoring the embodied dimensions of EC. My goals are to expose the fallacy of the 'theory-practice gap', to demonstrate how my own EC practice is deeply informed by this theoretical orientation, and to argue for a wider definition of what 'counts' as relevant theory for ethics consultation.     

A lightweight,inexpensive robotic system for insect vision

Designing hardware for miniaturized robotics which mimics the capabilities of flying insects is of interest, because they share similar constraints (i.e. small size, low weight, and low energy consumption). Research in this area aims to enable robots with similarly efficient flight and cognitive abilities. Visual processing is important to flying insects' impressive flight capabilities, but currently, embodiment of insect-like visual systems is limited by the hardware systems available. Suitable hardware is either prohibitively expensive, difficult to reproduce, cannot accurately simulate insect vision characteristics, and/or is too heavy for small robotic platforms. These limitations hamper the development of platforms for embodiment which in turn hampers the progress on understanding of how biological systems fundamentally work. To address this gap, this paper proposes an inexpensive, lightweight robotic system for modelling insect vision. The system is mounted and tested on a robotic platform for mobile applications, and then the camera and insect vision models are evaluated. We analyse the potential of the system for use in embodiment of higher-level visual processes (i.e. motion detection) and also for development of navigation based on vision for robotics in general. Optic flow from sample camera data is calculated and compared to a perfect, simulated bee world showing an excellent resemblance.     

Embodied Resource Flows in a Global Economy

This article presents a methodology for identifying critical links in global resource supply chains by tracking resources from their extraction in one region of the world economy through their embodiment in intermediate products in the same and other regions to eventual embodiment in final goods. We build on previous work that applied an absorbing Markov chain (AMC) to results obtained using an input‐output (IO) model of a single region to define a resource‐specific network within that economy. In the absence of model calculations, the AMC can also be applied to standard IO data for a past year. This article first generalizes the analytic framework from a single region to the important case of the global resource‐specific network. This network typically includes cycling of embodied resources between sectors not only within each economy, but also among regions, as subsequent rounds of intermediate products are traded. Next, we refine that analysis to exhibit a crucial subnetwork, the resource end‐use network, which only tracks the portion of the resource that ends up embodied in a specific final product in a given region. Finally, we develop techniques to distinguish key branches of these networks and provide detailed insights about the structure of global resource dependence. A numerical example is applied to results of scenario analysis using an IO model of the world economy. Two alternative scenarios are compared. In each scenario, embodied resources are carried over specific branches of a global network in three regions using three resources to produce four goods.     

Objectified Selves: An Analysis of Medicines in Andean Sacrificial Healing

This analysis of medicines used in a Quechua soul-calling ritual in the southern Peruvian Andes demonstrates that the items in sacrificial bundles (despachos) embody the identity of patients. The manipulation of these medicinal objects gives insight into the meaning of the concept of embodiment in the Andean cultural context and expands Western conceptions of embodiment. An examination of the material representation of the body, the sacrificial object, illuminates the components of embodied identity in this particular cultural context. Analysis of the manipulation of medicines further illuminates the potency and efficacy of symbolic healing to transform the phenomenological world of the patient. [ethnomedicine, Andes, embodiment, symbolic healing]     

Using strategic movement to calibrate a neural compass: a spiking network for tracking head direction in rats and robots

The head direction (HD) system in mammals contains neurons that fire to represent the direction the animal is facing in its environment. The ability of these cells to reliably track head direction even after the removal of external sensory cues implies that the HD system is calibrated to function effectively using just internal (proprioceptive and vestibular) inputs. Rat pups and other infant mammals display stereotypical warm-up movements prior to locomotion in novel environments, and similar warm-up movements are seen in adult mammals with certain brain lesion-induced motor impairments. In this study we propose that synaptic learning mechanisms, in conjunction with appropriate movement strategies based on warm-up movements, can calibrate the HD system so that it functions effectively even in darkness. To examine the link between physical embodiment and neural control, and to determine that the system is robust to real-world phenomena, we implemented the synaptic mechanisms in a spiking neural network and tested it on a mobile robot platform. Results show that the combination of the synaptic learning mechanisms and warm-up movements are able to reliably calibrate the HD system so that it accurately tracks real-world head direction, and that calibration breaks down in systematic ways if certain movements are omitted. This work confirms that targeted, embodied behaviour can be used to calibrate neural systems, demonstrates that 'grounding' of modelled biological processes in the real world can reveal underlying functional principles (supporting the importance of robotics to biology), and proposes a functional role for stereotypical behaviours seen in infant mammals and those animals with certain motor deficits. We conjecture that these calibration principles may extend to the calibration of other neural systems involved in motion tracking and the representation of space, such as grid cells in entorhinal cortex.     

Getting out of the habitus: an alternative model of dynamically embodied social action

Although Bourdieu's theory of practice has drawn widespread attention to the role of the body and space in social life, the concept of habitus is problematic as an explanatory account of dynamic embodiment because it lacks an adequate conception of the nature and location of human agency. An alternative model is presented which locates agency in the causal powers and capacities of embodied persons to engage in dialogic, signifying acts. Grounded in a non-Cartesian concept of person and 'new realist', post-positivist philosophy of science, vocal signs and action signs, not the dispositions of a habitus , become the means by which humans exercise agency in dynamically embodied practices. Ethnographic data from the communicative practices of the Nakota (Assiniboine) people of northern Montana (USA) support and illustrate the theoretical argument.     

Rethinking Anthropological Studies of the Body: Manas and Bōdham in Kerala

Anthropological research that focuses on the body has been prolific in the last two decades. This trend has provided an important reorientation away from a tendency to focus on mental representations of experience and has allowed for a more holistic understanding of the human condition. However, this article argues that much research on the body has created a false dichotomy: Westerners are seen as living in a world of mentalistic bias and mind–body dualism while all others are understood as more grounded in their bodies. Ethnographic research conducted among people suffering psychopathology and possession in Kerala, India, challenges these assumptions about the embodied Other by showing that these patients experience a continuum of states of being that includes the body, mind, consciousness, and self/soul. This approach demonstrates how an examination of a local culturally and historically formed phenomenological orientation can provide a useful alternative to the tendency to discover embodied peoples. [Keywords: body, embodiment, India, Kerala]     

A Theory of Cheap Control in Embodied Systems

We present a framework for designing cheap control architectures of embodied agents. Our derivation is guided by the classical problem of universal approximation, whereby we explore the possibility of exploiting the agent’s embodiment for a new and more efficient universal approximation of behaviors generated by sensorimotor control. This embodied universal approximation is compared with the classical non-embodied universal approximation. To exemplify our approach, we present a detailed quantitative case study for policy models defined in terms of conditional restricted Boltzmann machines. In contrast to non-embodied universal approximation, which requires an exponential number of parameters, in the embodied setting we are able to generate all possible behaviors with a drastically smaller model, thus obtaining cheap universal approximation. We test and corroborate the theory experimentally with a six-legged walking machine. The experiments indicate that the controller complexity predicted by our theory is close to the minimal sufficient value, which means that the theory has direct practical implications.     

Swing it to the left, swing it to the right: enacting flexible spatial language using a neurodynamic framework

Research is continually expanding the empirical and theoretical picture of embodiment and dynamics in language. To date, however, a formalized neural dynamic framework for embodied linguistic processes has yet to emerge. To advance embodied theories of language, the present work develops a formalized neural dynamic framework of spatial language that explicitly integrates linguistic processes and dynamic sensory-motor systems. We then implement and test our spatial language architecture on a robotic platform continuously linked to real-time camera input. In a suite of tasks using everyday objects we demonstrate the framework’s capacity for both contextually-dependent behavioral flexibility and the seamless integration of spatial, non-spatial, and symbolic representations. To our knowledge this is the first unified, neurally-grounded architecture integrating these processes and behaviors.     

In Search of Community: A Quest for Well-Being among Tamil Refugees in Northern Norway

Over the past ten years, Tamil refugees have settled in marginal fishing communities along the Arctic coastline of northern Norway. This article focuses on social aspects of Tamil resettlement and on the refugees' struggle for well-being. Tamils in these communities often experience diffuse aches and pains that are difficult for health workers to diagnose and treat. This article argues for the need to understand such health problems as embedded in social relations as they are experienced and embodied by the Tamils. Case studies are presented emphasizing that Tamils experience being misunderstood as individuals and as whole persons. This article draws a picture of a social context in which Tamils are stretched and pulled in different directions in search of community and individuality. The question emerges how best to understand the process of embodiment, which may transcend the individual body.     

Culture, embodiment and genes: unravelling the triple helix

Much recent work stresses the role of embodiment and action in thought and reason, and celebrates the power of transmitted cultural and environmental structures to transform the problem-solving activity required of individual brains. By apparent contrast, much work in evolutionary psychology has stressed the selective fit of the biological brain to an ancestral environment of evolutionary adaptedness, with an attendant stress upon the limitations and cognitive biases that result. On the face of it, this suggests either a tension or, at least, a mismatch, with the symbiotic dyad of cultural evolution and embodied cognition. In what follows, we explore this mismatch by focusing on three key ideas: cognitive niche construction; cognitive modularity; and the existence (or otherwise) of an evolved universal human nature. An appreciation of the power and scope of the first, combined with consequently more nuanced visions of the latter two, allow us to begin to glimpse a much richer vision of the combined interactive potency of biological and cultural evolution for active, embodied agents.     

Embodied Subjects and Fragmented Objects: Women’s Bodies,Assisted Reproduction Technologies and the Right to Self-Determination

This article focuses on the transformation of the female reproductive body with the use of assisted reproduction technologies under neo-liberal economic globalisation, wherein the ideology of trade without borders is central, as well as under liberal feminist ideals, wherein the right to self-determination is central. Two aspects of the body in western medicine—the fragmented body and the commodified body, and the integral relation between these two—are highlighted. This is done in order to analyse the implications of local and global transactions in women’s reproductive body parts for their right to self-determination and individual agency and what this means for their embodiment. We conclude by exploring whether women can become embodied subjects by exercising their proprietary right to their bodies through directing technology to achieve their own goals, while at the same time being fragmented into parts and losing their personhood and bodily integrity. This article has been translated and adapted from the Dutch version published in the Tijdschrift voor Humanistiek, 2006; 26(7).     

In Defense of Some `Cartesian' Assumptions Concerning the Brain and Its Operation

I argue against a growing radical trend in current theoretical cognitive science that moves from the premises of embedded cognition, embodied cognition, dynamical systems theory and/or situated robotics to conclusions either to the effect that the mind is not in the brain or that cognition does not require representation, or both. I unearth the considerations at the foundation of this view: Haugeland's bandwidth-component argument to the effect that the brain is not a component in cognitive activity, and arguments inspired by dynamical systems theory and situated robotics to the effect that cognitive activity does not involve representations. Both of these strands depend not only on a shift of emphasis from higher cognitive functions to things like sensorimotor processes, but also depend on a certain understanding of how sensorimotor processes are implemented - as closed-loop control systems. I describe a much more sophisticated model of sensorimotor processing that is not only more powerful and robust than simple closed-loop control, but for which there is great evidence that it is implemented in the nervous system. The is the emulation theory of representation, according to which the brain constructs inner dynamical models, or emulators, of the body and environment which are used in parallel with the body and environment to enhance motor control and perception and to provide faster feedback during motor processes, and can be run off-line to produce imagery and evaluate sensorimotor counterfactuals. I then show that the emulation framework is immune to the radical arguments, and makes apparent why the brain is a component in the cognitive activity, and exactly what the representations are in sensorimotor control.     

Mental Rotation Performance in Male Soccer Players

It is the main goal of this study to investigate the visual-spatial cognition in male soccer players. Forty males (20 soccer players and 20 non-athletes) solved a chronometric mental rotation task with both cubed and embodied figures (human figures, body postures). The results confirm previous results that all participants had a lower mental rotation speed for cube figures compared to embodied figures and a higher error rate for cube figures, but only at angular disparities greater than 90°. It is a new finding that soccer–players showed a faster reaction time for embodied stimuli. Because rotation speed did not differ between soccer-players and non-athletes this finding cannot be attributed to the mental rotation process itself but instead to differences in one of the following processes which are involved in a mental rotation task: the encoding process, the maintanence of readiness, or the motor process. The results are discussed against the background of the influence on longterm physical activity on mental rotation and the context of embodied cognition.     

Swarm robotics: a review from the swarm engineering perspective

Swarm robotics is an approach to collective robotics that takes inspiration from the self-organized behaviors of social animals. Through simple rules and local interactions, swarm robotics aims at designing robust, scalable, and flexible collective behaviors for the coordination of large numbers of robots. In this paper, we analyze the literature from the point of view of swarm engineering: we focus mainly on ideas and concepts that contribute to the advancement of swarm robotics as an engineering field and that could be relevant to tackle real-world applications. Swarm engineering is an emerging discipline that aims at defining systematic and well founded procedures for modeling, designing, realizing, verifying, validating, operating, and maintaining a swarm robotics system. We propose two taxonomies: in the first taxonomy, we classify works that deal with design and analysis methods; in the second taxonomy, we classify works according to the collective behavior studied. We conclude with a discussion of the current limits of swarm robotics as an engineering discipline and with suggestions for future research directions.     

The structure of embodiment and the overcoming of dualism: an analysis of Margaret Lock’s paradigm of embodiment

This paper elaborates the structure of the dualistic theory and that of embodiment in order to demonstrate the existence of a linkage between the two using a topological approach. This theoretical step is taken in order to analyze the so-called overcoming of dualistic theories by the theory of embodiment. The author takes into analysis one particular theory of embodiment: Margaret Lock’s. The analysis of her theory of embodiment takes into consideration both the level of enunciation and the enunciated, which enables the conceptualisation and understanding of Lock’s subjectivity as immanent to her theory. The specific moral position taken by Lock, which is required by her ‘project,’ is not transcendental, but rather an effect of the structure of her theory. This approach enables the author to develop a critique that aims at developing further her theory rather than pragmatically negating it. The paper ends with the conclusion that the object of the overcoming is not the dualism itself, but the element called ‘Difference.’ This element belongs to the dualistic relation yet simultaneously cannot be integrated into the relation. Conversely, a theory of embodiment is faced with the same element (Difference), but the former finds another structural solution to it. In the claim of an overcoming of dualities, the theory of embodiment demonstrates a reactionary position in relation to Difference. Precisely this position produces the structural impossibility of accepting the fact that the actual problem is not to bridge Difference, but, rather, to formulate it as such.     

Embodied economics: how bodily information shapes the social coordination dynamics of decision-making

To date, experiments in economics are restricted to situations in which individuals are not influenced by the physical presence of other people. In such contexts, interactions remain at an abstract level, agents guessing what another person is thinking or is about to decide based on money exchange. Physical presence and bodily signals are therefore left out of the picture. However, in real life, social interactions (involving economic decisions or not) are not solely determined by a person''s inference about someone else''s state-of-mind. In this essay, we argue for embodied economics: an approach to neuroeconomics that takes into account how information provided by the entire body and its coordination dynamics influences the way we make economic decisions. Considering the role of embodiment in economics—movements, posture, sensitivity to mimicry and every kind of information the body conveys—makes sense. This is what we claim in this essay which, to some extent, constitutes a plea to consider bodily interactions between agents in social (neuro)economics.     

"The Divine Impatience": Ritual, Narrative, and Symbolization in the Practice of Martyrdom in Palestine

Violence is obscured by habits of thought, which predispose us to reject that which falls outside of our notion of "normal' human behavior. By dismissing as incomprehensible, or "pathologic" embodied practices that do not correspond to a "rationally ordered' everyday life, some anthropologists concerned with issues of violence forsake a fundamental responsibility to foster an understanding of phenomena that affronts, offends, or questions our own cultural norms and assumptions. Situations of violence, whether due to contextual or individual instability, by definition defy pregiven notions of "rationality" and "normal behavior." This article is about Palestinian martyrs, youths killed in confrontations with the Israeli military. It seeks to identify the cultural and psychological processes that make Palestinian martyrdom possible within the specific context of Israeli military occupation. It elaborates the ritual, narrative, and symbolic dimensions of a practice that exists within a Palestinian discourse of sacrifice and of national liberation. [Palestinian, martyrdom, embodiment, psychoanalysis, violence]     

The prospects for analogue neural VLSI

In recent years, the efforts of analogue, neural-hardware designers have shifted from generic analogue neurocomputers to "niche" markets in sensor fusion and robotics, and we explain why this is so. We describe the main differences between digital and analogue computation, and consider the advantages of pure analogue and pulsed methods of design. We then investigate some important issues in analogue design of neural machines, namely weight storage (volatile and non-volatile), on-chip learning, and arithmetic accuracy and its relationship to noise. Finally, we outline those areas in which analogue techniques are likely to prove most useful, and speculate as to their likely long-term utility.