Robust robot bouncing: Passive compliance and fexible phase locking

Sproewitz, A and Berthouze, L (2005) Robust robot bouncing: Passive compliance and fexible phase locking. In: 3rd International Symposium on Adaptive Motion in Animals and Machines, Ilmenau, Germany.

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Bouncing is one of the early locomotor milestones in the development of motor skills in human infants. As such, its study should yield insights on the mechanisms underlying the acquisition of motor skills. Goldfield et al. realized a longitudinal study of young infants learning to bounce in a Jolly Jumper. They observed developmental stages (assembly phase, turning phase, phase) that may be typical to infant’s acquisition of motor. To gain a mechanistic view of those stages, we replicated the study using a small humanoid robot (Figure 1, left) suspended to a fixed frame by rubber springs. In human infants, the combination of the Jolly Jumper and the natural compliance of the infant’s musculoskeletal system significantly reduce the dynamic loads of bouncing.

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 20:48
Last Modified: 13 Apr 2012 10:37
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