Adaptivity via alternate freeing and freezing of degrees of freedom

Lungarella, Max and Berthouze, Luc (2002) Adaptivity via alternate freeing and freezing of degrees of freedom. In: 9th International Conference on Neural Information Processing, Singapore.

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Abstract

Starting with fewer degrees of freedom has been shown to enable a more efficient exploration of the sensorimotor space. While not necessarily leading to optimal task performance, it results in a smaller number of directions of stability, which guide the coordination of additional degrees of freedom. The developmental release of additional degrees of freedom is then expected to allow for optimal task performance and more tolerance and adaptation to environmental interaction. We test this assumption with a small-sized humanoid robot, that learns to swing under environmental perturbations. Our experiments show that a progressive release of degrees of freedom alone is not sufficient to cope with environmental perturbations. Instead, alternate freezing and freeing of the degrees of freedom is required. Such finding is consistent with observations made during transitional periods in acquisition of skills in infants.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Luc Berthouze
Date Deposited: 06 Feb 2012 20:37
Last Modified: 12 Apr 2012 11:51
URI: http://sro.sussex.ac.uk/id/eprint/27031
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