TY  - GEN
ID  - cogprints4969
UR  - http://cogprints.org/4969/
A1  - Veskos, Paschalis
A1  - Demiris, Yiannis
Y1  - 2005///
N2  - 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.
PB  - Lund University Cognitive Studies
KW  - van der Pol oscillator
KW  -  swinging robot
KW  -  entrainment skills
KW  -  degrees of freedom problem
TI  - Developmental acquisition of entrainment skills in
robot swinging using van der Pol oscillators
SP  - 87
AV  - public
EP  - 93
ER  -

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