Adaptivity through alternate freeing and freezing of degrees of freedom

Lungarella, Max and Berthouze, Dr Luc (2002) Adaptivity through alternate freeing and freezing of degrees of freedom. [Conference Paper]

Full text available as:



Starting with fewer degrees of freedom has been shown to enable a more efficient exploration of the sensorimotor space. While not necessarily leading to optimal task performance, it results in a smaller number of directions of stability, which guide the coordination of additional degrees of freedom. The developmental release of additional degrees of freedom is then expected to allow for optimal task performance and more tolerance and adaptation to environmental interaction. In this paper, we test this assumption with a small-sized humanoid robot that learns to swing under environmental perturbations. Our experiments show that a progressive release of degrees of freedom alone is not sufficient to cope with environmental perturbations. Instead, alternate freezing and freeing of the degrees of freedom is required. Such finding is consistent with observations made during transitional periods in acquisition of skills in infants.

Item Type:Conference Paper
Keywords:Developmental robotics Freeing and freezing of degrees of freedom Neural oscillators Developmental biodynamics
Subjects:Computer Science > Dynamical Systems
Psychology > Developmental Psychology
Computer Science > Robotics
ID Code:2663
Deposited By: Lungarella, Max
Deposited On:17 Dec 2002
Last Modified:11 Mar 2011 08:55


Repository Staff Only: item control page