Robot bouncing: On the synergy between neural and body-environment dynamics

Lungarella, Max and Berthouze, Luc (2004) Robot bouncing: On the synergy between neural and body-environment dynamics. International Seminar on Embodied Artificial Intelligence, Dagstuhl Castle, GAMBIA. Published in: Iida, F, Pfeifer, R, Steels, L and Kuniyoshi, Y, (eds.) Embodied Artificial Intelligence. 3139 86-97. Springer-Verlag ISSN 0302-9743 ISBN 3-54022484X

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Abstract

The study of how infants strapped in a Jolly Jumper learn to bounce can help clarify how they explore different ways of exploiting the dynamics of their movements. In this paper, we describe and discuss a set of preliminary experiments performed with a bouncing humanoid robot and aimed at instantiating a few computational principles thought to underlie the development of motor skills. Our experiments show that a suitable choice of the coupling constants between hip, knee, and ankle joints, as well as of the strength of the sensory feedback, induces a reduction of movement variability, and leads to an increase in bouncing amplitude and movement stability. This result is attributed to the synergy between neural and body-environment dynamics.

Item Type: Conference Proceedings
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Luc Berthouze
Date Deposited: 06 Feb 2012 20:30
Last Modified: 18 Sep 2017 08:58
URI: http://sro.sussex.ac.uk/id/eprint/26258
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