title: Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators
creator: Veskos, Paschalis
creator: Demiris, Yiannis
subject: Dynamical Systems
subject: Neural Nets
subject: Robotics
description: 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.
publisher: Lund University Cognitive Studies
contributor: Berthouze, Luc
contributor: Kaplan, Frédéric
contributor: Kozima, Hideki
contributor: Yano, Hiroyuki
contributor: Konczak, Jürgen
contributor: Metta, Giorgio
contributor: Nadel, Jacqueline
contributor: Sandini, Giulio
contributor: Stojanov, Georgi
contributor: Balkenius, Christian
date: 2005
type: Conference Paper
type: PeerReviewed
format: application/pdf
identifier: http://cogprints.org/4969/1/veskos.pdf
identifier:   Veskos, Paschalis and Demiris, Yiannis  (2005) Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators.  [Conference Paper]     
relation: http://cogprints.org/4969/