Using enactive robotics to think outside of the problem-solving box: How sensorimotor contingencies constrain the forms of emergent autononomous habits.

We suggest that the influence of biology in 'biologically inspired robotics' can be embraced at a deeper level than is typical, if we adopt an enactive approach that moves the focus of interest from how problems are solved to how problems emerge in the first place. In addition to being inspired by mechanisms found in natural systems or by evolutionary design principles directed at solving problems posited by the environment, we can take inspiration from the precarious, self-maintaining organization of living systems to investigate forms of cognition that are also precarious and self-maintaining and that thus also, like life, have their own problems that must be be addressed if they are to persist. In this vein, we use a simulation to explore precarious, self-reinforcing sensorimotor habits as a building block for a robot's behavior. Our simulations of simple robots controlled by an Iterative Deformable Sensorimotor Medium demonstrate the spontaneous emergence of different habits, their re-enactment and the organization of an ecology of habits within each agent. The form of the emergent habits is constrained by the sensory modality of the robot such that habits formed under one modality (vision) are more similar to each other than they are to habits formed under another (audition). We discuss these results in the wider context of: (a) enactive approaches to life and mind, (b) sensorimotor contingency theory, (c) adaptationist vs. structuralist explanations in biology, and (d) the limits of functionalist problem-solving approaches to (artificial) intelligence.