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| Record Number | 1708 |
| Reference Type | Conference Proceedings |
| Author(s) | Schaal, S. |
| Year | 2003 |
| Title | Dynamic movement primitives - A framework for motor control in humans and humanoid robots |
| Journal/Conference/Book Title | The International Symposium on Adaptive Motion of Animals and Machines |
| Keywords | movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, fmri, behavioral evidence |
Abstract |
Sensory-motor integration is one of the key issues in robotics. In this paper, we propose an approach to rhythmic arm movement control that is synchronized with an external signal based on exploiting a simple neural oscillator network. Trajectory generation by the neural oscillator is a biologically inspired method that can allow us to generate a smooth and continuous trajectory. The parameter tuning of the oscillators is used to generate a synchronized movement with wide intervals. We adopted the method for the drumming task as an example task. By using this method, the robot can realize synchronized drumming with wide drumming intervals in real time. The paper also shows the experimental results of drumming by a humanoid robot.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/S/schaal-AMAM2003.pdf
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| Place Published | Kyoto, Japan, March 4-8, 2003 |
| Date | March 4-8, 2003 |
| Short Title | Dynamic movement primitives - A framework for motor control in humans and humanoid robots |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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