Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators

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Title: Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators
Authors: Veskos, P
Demiris, Y
Item 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.
Issue Date: 31-Jul-2005
URI: http://hdl.handle.net/10044/1/12624
ISBN: 91-974741-4-2
Start Page: 87
End Page: 93
Copyright Statement: © 2005 The Authors
Conference Name: International Workshop On Epigenetic Robotics
Conference Location: Nara, Japan
Publication Status: Published
Publisher URL: http://www.lucs.lu.se/LUCS/123/epirob05.pdf
Start Date: 2005-07-22
Finish Date: 2005-07-24
Conference Place: Nara, Japan
Appears in Collections:Electrical and Electronic Engineering



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