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Reference TypeConference Proceedings
Author(s)Schaal, S.
Year2003
TitleDynamic movement primitives - A framework for motor control in humans and humanoid robots
Journal/Conference/Book TitleThe International Symposium on Adaptive Motion of Animals and Machines
Keywordsmovement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, fMRI, behavioral evidence
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 PublishedKyoto, Japan, March 4-8, 2003
DateMarch 4-8, 2003
Short TitleDynamic movement primitives - A framework for motor control in humans and humanoid robots
URL(s) http://www-clmc.usc.edu/publications/S/schaal-AMAM2003.pdf

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