Emergence of a dynamic pattern in wall-bouncing juggling: self-organized timing selection for rhythmic movement

  • Authors:

  • Hiroaki Hirai;Fumio Miyazaki

  • Affiliations:

  • Dept. of Robotics, Ritsumeikan University, Kusatsu 525-8577, (Japan).;Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka 560-8531, Japan.

  • Venue:
  • Robotica
  • Year:
  • 2006

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Abstract

This paper describes a hierarchical architecture for rhythmic movement generation, which suits a juggling-like task involving sensory-motor coordination. Our approach, which is interpreted as a “bidirectional weak coupling” to the environment, does not require a continuous monitoring of the environment, but can adapt a robot to a change in the environment, owing to the interaction between the robot and the environment at the ball contact. The proposed architecture contains two passive-control mechanisms, the “entrainment mechanism” and the “open-loop stable mechanism,” that lead to the emergence of a self-organized temporal order in the whole system. This dynamic temporal pattern enables a robot to perform a stable rhythmic movement. We demonstrate a robot which juggles two balls rebounding off the wall and confirm the effectiveness of our approach.