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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 BerthouzeThe 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.
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Publication status
- Published
Journal
Embodied Artificial IntelligenceISSN
0302-9743Publisher
Springer-VerlagPublisher URL
Volume
3139Page range
86-97Event name
International Seminar on Embodied Artificial IntelligenceEvent location
Dagstuhl Castle, GAMBIAEvent type
conferenceISBN
3-54022484XSeries
Lecture Notes in Computer ScienceDepartment affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Editors
R Pfeifer, F Iida, Y Kuniyoshi, L SteelsLegacy Posted Date
2012-02-06Usage metrics
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