@misc{cogprints4969,
          volume = {123},
          editor = {Luc Berthouze and Fr{\'e}d{\'e}ric Kaplan and Hideki Kozima and Hiroyuki Yano and J{\"u}rgen Konczak and Giorgio Metta and Jacqueline Nadel and Giulio Sandini and Georgi Stojanov and Christian Balkenius},
           title = {Developmental acquisition of entrainment skills in
robot swinging using van der Pol oscillators},
          author = {Paschalis Veskos and Yiannis Demiris},
       publisher = {Lund University Cognitive Studies},
            year = {2005},
           pages = {87--93},
        keywords = {van der Pol oscillator, swinging robot, entrainment skills, degrees of freedom problem},
             url = {http://cogprints.org/4969/},
        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.}
}

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