creators_name: Veskos, Paschalis creators_name: Demiris, Yiannis editors_name: Berthouze, Luc editors_name: Kaplan, Frédéric editors_name: Kozima, Hideki editors_name: Yano, Hiroyuki editors_name: Konczak, Jürgen editors_name: Metta, Giorgio editors_name: Nadel, Jacqueline editors_name: Sandini, Giulio editors_name: Stojanov, Georgi editors_name: Balkenius, Christian type: confpaper datestamp: 2006-07-23 lastmod: 2011-03-11 08:56:29 metadata_visibility: show title: Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators ispublished: pub subjects: comp-sci-mach-dynam-sys subjects: comp-sci-neural-nets subjects: comp-sci-robot full_text_status: public keywords: van der Pol oscillator, swinging robot, entrainment skills, degrees of freedom problem 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. date: 2005 date_type: published volume: 123 publisher: Lund University Cognitive Studies pagerange: 87-93 refereed: TRUE citation: Veskos, Paschalis and Demiris, Yiannis (2005) Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators. [Conference Paper] document_url: http://cogprints.org/4969/1/veskos.pdf