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Publication Details

Reference TypeConference Proceedings
Author(s)Pongas, D.;Billard, A.;Schaal, S.
TitleRapbid synchronization and accurate phase-locking of rhythmic motor primitives
Journal/Conference/Book TitleIEEE International Conference on Intelligent Robots and Systems (IROS 2005)
Keywordsearning from demonstration periodic movement phase locking rhythm generation rhythmic motor rhythmic movement pattern synchronization Motor primitives Periodic movement Synchronization and Phase locking learning from demonstration
AbstractRhythmic movement is ubiquitous in human and animal behavior, e.g., as in locomotion, dancing, swimming, chewing, scratching, music playing, etc. A particular feature of rhythmic movement in biology is the rapid synchronization and phase locking with other rhythmic events in the environment, for instance music or visual stimuli as in ball juggling. In traditional oscillator theories to rhythmic movement generation, synchronization with another signal is relatively slow, and it is not easy to achieve accurate phase locking with a particular feature of the driving stimulus. Using a recently developed framework of dynamic motor primitives, we demonstrate a novel algorithm for very rapid synchronizaton of a rhythmic movement pattern, which can phase lock any feature of the movement to any particulur event in the driving stimulus. As an example application, we demonstrate how an anthropomorphic robot can use imitation learning to acquire a complex rumming pattern and keep it synchronized with an external rhythm generator that changes its frequency over time.
Place PublishedEdmonton, Alberta, Canada, Aug. 2-6
Short TitleRapbid synchronization and accurate phase-locking of rhythmic motor primitives

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