Instinct and reflex inspired safety mechanisms for adaptive robots

Adaptive robotics aims at building fully autonomous robots that are able to overcome unexpected changes while operating in, possibly unpredictable, environments. In this context, robots can adapt relying on learning capabilities or, in general, any internal change that leads to a modified behavior. However, during these processes robots are more vulnerable and more likely to be exposed to damage. Although strategies for damage recovery are possible, preventing damage before it occurs is preferable and of fundamental importance. In this thesis, we take inspiration from the protective role of instincts and reflexes in nature to provide adaptive robots with a module of innate safety mechanisms. We design a set of instincts and reflexes to protect the robots from different sources of damage. We provide an implementation of these mechanisms and test it on a robot subject to online adaptation. The results suggest that this integration can improve the resilience and autonomy of robots.