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. 2013 May 27;8(5):e63400. doi: 10.1371/journal.pone.0063400

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© 2013 Martius et al

This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are properly credited.

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9). Plotted is the results of a hierarchical clustering based on the difference between the parameters in each of the simulations (averaged over time). For each of the four environments there are three initial poses: (straight upright), and slanted to the front. The parameters for runs in the same environment are clustered together. This supports the observation that the embodiment plays an essential role in the generation of behavior. More importantly the physical conditions are reflected in the parameters and are thus internalized. We used the squared norm of the difference of the absolute values of the matrix elements. The absolute values were used because a common structure in the parameters are rotation matrices and there the same qualitative behavior is obtained with inverted signs. Parameters: , , update frequency 50 Hz.

Inline graphic — 9). Plotted is the results of a hierarchical clustering based on the difference between the parameters in each of the simulations (averaged over time). For each of the four environments there are three initial poses: (straight upright), and slanted to the front. The parameters for runs in the same environment are clustered together. This supports the observation that the embodiment plays an essential role in the generation of behavior. More importantly the physical conditions are reflected in the parameters and are thus internalized. We used the squared norm of the difference of the absolute values of the matrix elements. The absolute values were used because a common structure in the parameters are rotation matrices and there the same qualitative behavior is obtained with inverted signs. Parameters: , , update frequency 50 Hz.