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1 results

  • Emergence of a dynamic pattern in wall-bouncing juggling: self-organized timing selection for rhythmic movement

  • Hiroaki Hirai, Fumio Miyazaki
  • Journal:
    Robotica / Volume 24 / Issue 3 / May 2006
    Published online by Cambridge University Press:
    17 November 2005, pp. 273-293

  • This paper describes a hierarchical architecture for rhythmic movement generation, which suits a juggling-like task involving sensory-motor coordination. Our approach, which is interpreted as a “bidirectional weak coupling” to the environment, does not require a continuous monitoring of the environment, but can adapt a robot to a change in the environment, owing to the interaction between the robot and the environment at the ball contact. The proposed architecture contains two passive-control mechanisms, the “entrainment mechanism” and the “open-loop stable mechanism,” that lead to the emergence of a self-organized temporal order in the whole system. This dynamic temporal pattern enables a robot to perform a stable rhythmic movement. We demonstrate a robot which juggles two balls rebounding off the wall and confirm the effectiveness of our approach.