Quantitative description of robot-environment interaction using chaos theory

Any theory (such as, for example a theory of robot-environment interaction) is dependent upon quantitative descriptions of behaviour. In this paper we present experiments on the application of chaos theory to describe a robot’s behaviour quantitatively. Computing the Lyapunov exponent of robot trajectories observed in a number of experiments, we find that a change in task influences robot behaviour far more noticeably than a change in environment.