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Reference TypeConference Proceedings
Author(s)Kotosaka, S.;Schaal, S.
Year2000
TitleSynchronized robot drumming by neural oscillator
Journal/Conference/Book TitleThe International Symposium on Adaptive Motion of Animals and Machines
Keywordstrajectory formation, learning, nonlinear dynamics, motor skill acquisition, pattern generators, drumming
AbstractSensory-motor integration is one of the key issues in robotics. In this paper, we propose an approach to rhythmic arm movement control that is synchronized with an external signal based on exploiting a simple neural oscillator network. Trajectory generation by the neural oscillator is a biologically inspired method that can allow us to generate a smooth and continuous trajectory. The parameter tuning of the oscillators is used to generate a synchronized movement with wide intervals. We adopted the method for the drumming task as an example task. By using this method, the robot can realize synchronized drumming with wide drumming intervals in real time. The paper also shows the experimental results of drumming by a humanoid robot.
Place PublishedMontreal, Canada
DateAug. 8, 2000
Short TitleSynchronized robot drumming by neural oscillator
URL(s) http://www-clmc.usc.edu/publications/K/kotosaka-AMAM2000.pdf

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