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

conference contribution
posted on 2023-06-08, 06:31 authored by Max Lungarella, Luc BerthouzeLuc Berthouze
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.

History

Publication status

  • Published

Journal

Embodied Artificial Intelligence

ISSN

0302-9743

Publisher

Springer-Verlag

Volume

3139

Page range

86-97

Event name

International Seminar on Embodied Artificial Intelligence

Event location

Dagstuhl Castle, GAMBIA

Event type

conference

ISBN

3-54022484X

Series

Lecture Notes in Computer Science

Department affiliated with

  • Informatics Publications

Full text available

  • No

Peer reviewed?

  • Yes

Editors

R Pfeifer, F Iida, Y Kuniyoshi, L Steels

Legacy Posted Date

2012-02-06

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