A “ROBOTIC-WIKI” - Clemson University

controller, learning P1, P2, …. is adaptive,” Pask described (Pask, 1961, p.61). In adaptive
systems, the learning processes are guided by built-in rules, “the controller” or its sub
systems of “sub-controllers,” perform selective activities all the time to select the “reward
variable Ө,” (Figure 1.2).Thus, if the system is designed using “hill climbers” or
“optimizers,” a certain value is reached (e.g., a threshold), the system learns that it has
reached the specified peak and will respond accordingly (Pask, 1961, pp.61-66).
Figure1.2 Equivalent views of an adaptive controller (Source: Pask, 1961, p.62)
In biological systems, Pask describes that “an organism is a control system with
its own survival as its objective,” thus by using an analogous approach, we will be able to
develop a better understanding of how to design mechanical adaptive systems (Pask,
1961, p.72). According to Pask, all biological control systems share four main
characteristics:
(1) Survival: an organism “shall survive in a physical assembly that determines
the environment of the system” (Pask, 1961, p.71);
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