Cogprints

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

Veskos, Paschalis and Demiris, Yiannis (2005) Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators. [Conference Paper]

Full text available as:

[img]
Preview
PDF
3740Kb

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.

Item Type:Conference Paper
Keywords:van der Pol oscillator, swinging robot, entrainment skills, degrees of freedom problem
Subjects:Computer Science > Dynamical Systems
Computer Science > Neural Nets
Computer Science > Robotics
ID Code:4969
Deposited By:Prince, Dr Christopher G.
Deposited On:23 Jul 2006
Last Modified:11 Mar 2011 08:56

Metadata

Repository Staff Only: item control page