Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators
File(s)
Published version
Author(s)
Veskos, P
Demiris, Y
Type
Conference Paper
Abstract
In this study we investigated the effects of different morphological configurations on a robot swinging task using van der Pol oscillators. The task was examined using two separate degrees of freedom (DoF), both in the presence and absence of neural entrainment. Neural entrainment stabilises the system, reduces time-to-steady state and relaxes the requirement for a strong coupling with the environment in order to achieve mechanical entrainment. It was found that staged release of the distal DoF does not have any benefits over using both DoF from the onset of the experimentation. On the contrary, it is less efficient, both with respect to the time needed to reach a stable oscillatory regime and the maximum amplitude it can achieve. The same neural architecture is successful in achieving neuromechanical entrainment for a robotic walking task.
Date Issued
2005-07
Citation
2005, pp.87-93
ISBN
91-974741-4-2
Start Page
87
End Page
93
Copyright Statement
© 2005 The Authors
Description
10.01.14 KB. Ok to add conference paper to spiral, authors hold copyright
Identifier
http://www.lucs.lu.se/LUCS/123/epirob05.pdf
Source
International Workshop On Epigenetic Robotics
Source Place
Nara, Japan
Publication Status
Published
Publisher URL
Start Date
2005-07-22
Finish Date
2005-07-24
Coverage Spatial
Nara, Japan