Article ID Journal Published Year Pages File Type
721829 IFAC Proceedings Volumes 2006 6 Pages PDF
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.

Related Topics
Physical Sciences and Engineering Engineering Computational Mechanics
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