Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
721829 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
This paper describes a hierarchical architecture for rhythmic coordination between robots, which suits a juggling-like ball passing task involving sensory-motor coordination. The proposed architecture contains two passive-control mechanisms, which include (1) open-loop stability of mechano-physical system and (2) entrainment between mechano-physical system and neuron-like pattern generating system. We demonstrate a stable coordinated motion of robots in the two-ball passing task, and show the effectiveness of our approach which exploits system dynamics caused by the interaction between the envirnment and the robots.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Hiroaki Hirai, Fumio Miyazaki,