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

Lungarella, M; Berthouze, L; (2004) Robot bouncing: On the synergy between neural and body-environment dynamics. In: Iida, F and Pfeifer, R and Steels, L and Kuniyoshi, Y, (eds.) EMBODIED ARTIFICIAL INTELLIGENCE. (pp. 86 - 97). SPRINGER-VERLAG BERLIN

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Abstract

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.

Type: Proceedings paper
Title: Robot bouncing: On the synergy between neural and body-environment dynamics
Event: International Seminar on Embodied Artificial Intelligence
Location: Dagstuhl Castle, GAMBIA
Dates: 2003-07-07 - 2003-07-11
ISBN: 3-540-22484-X
Keywords: SPONTANEOUS LEG MOVEMENTS, ACTION SYSTEMS, INFANTS, SELECTION
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Pop Health Sciences > UCL GOS Institute of Child Health
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Pop Health Sciences > UCL GOS Institute of Child Health > ICH Developmental Neurosciences Prog
URI: http://discovery.ucl.ac.uk/id/eprint/1320039
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