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Autonomous Motion Conference Paper 2000

Synchronized robot drumming by neural oscillator

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Autonomous Motion
Stefan Schaal
  • Director

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.

Author(s): Kotosaka, S. and Schaal, S.
Book Title: The International Symposium on Adaptive Motion of Animals and Machines
Year: 2000
Month: August
Day: 8
Bibtex Type: Conference Paper (inproceedings)
Address: Montreal, Canada
URL: http://www-clmc.usc.edu/publications/K/kotosaka-AMAM2000.pdf
Cross Ref: p1444
Electronic Archiving: grant_archive
Note: clmc

BibTex 

@inproceedings{Kotosaka_TISAMAM_2000,
  title = {Synchronized robot drumming by neural oscillator},
  booktitle = {The International Symposium on Adaptive Motion of Animals and Machines},
  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.},
  address = {Montreal, Canada},
  month = aug,
  year = {2000},
  note = {clmc},
  slug = {kotosaka_tisamam_2000},
  author = {Kotosaka, S. and Schaal, S.},
  crossref = {p1444},
  url = {http://www-clmc.usc.edu/publications/K/kotosaka-AMAM2000.pdf},
  month_numeric = {8}
}