?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Adaptivity+through+alternate+freeing+and+freezing+of+degrees+of+freedom&rft.creator=Lungarella%2C+Max&rft.creator=Berthouze%2C+Dr+Luc&rft.subject=Dynamical+Systems&rft.subject=Developmental+Psychology&rft.subject=Robotics&rft.description=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%2C+it+results+in+a+smaller+number+of+directions+of+stability%2C+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%2C+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%2C+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.%0A&rft.date=2002&rft.type=Conference+Paper&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F2663%2F1%2Ficonip02_final.pdf&rft.identifier=++Lungarella%2C+Max+and+Berthouze%2C+Dr+Luc++(2002)+Adaptivity+through+alternate+freeing+and+freezing+of+degrees+of+freedom.++%5BConference+Paper%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F2663%2F