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Adaptivity via alternate freeing and freezing of degrees of freedom
conference contribution
posted on 2023-06-08, 07:02 authored by Max Lungarella, Luc BerthouzeLuc BerthouzeStarting 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.
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Publication status
- Published
Journal
Proceedings of the 9th International Conference on Neural Information ProcessingPublisher
IEEE PressExternal DOI
Volume
1Pages
6.0Event name
9th International Conference on Neural Information ProcessingEvent location
SingaporeEvent type
conferenceISBN
9810475241Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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