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Learning to bounce: first lessons from a bouncing robot
conference contribution
posted on 2023-06-07, 22:53 authored by Max Lungarella, Luc BerthouzeLuc BerthouzeThe study of how infants learn to bounce, while being supported by a harness attached to a spring, sheds light on how infants learn to exploit the dynamics of their exploratory motion. The emerging rhythmical activity result of an entrainment among neural system, musculo-skeletal system, and surrounding environment is a salient characteristic of a developing body control during the rst year of life. In this paper, we describe and discuss the results of four preliminary experiments realized with a small-sized humanoid robot harnessed in a jolly jumper, and whose leg joints are controlled by neural oscillators. While the two rst experiments see the robot oscillate freely in space, the last experiments have the robot touch the ground during oscillations so as to characterise the effects of ground interaction. An appropriate choice of the parameters of the neural oscillators lead to sustained and stable bouncing.
History
Publication status
- Published
Journal
Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and MachinesPages
8.0Event name
2nd International Symposium on Adaptive Motion of Animals and MachinesEvent location
Kyoto, JapanEvent type
conferenceEvent date
4-8 March 2003Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes