Article (Scientific journals)
Robotics and neuroscience: A rhythmic interaction
Ronsse, Renaud; Lefèvre, Philippe; Sepulchre, Rodolphe
2008In Neural Networks, 21 (4), p. 577-583
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Keywords :
Rhythmic control; Impact juggling; Sensory feedback; Robustness; Performance; Movement primitives
Abstract :
[en] At the crossing between motor control neuroscience and robotics system theory, the paper presents a rhythmic experiment that is amenable both to handy laboratory implementation and simple mathematical modeling. The experiment is based on an impact juggling task, requiring the coordination of two upper-limb effectors and some phase-locking with the trajectories of one or several juggled objects. We describe the experiment, its implementation and the mathematical model used for the analysis. Our underlying research focuses on the role of sensory feedback in rhythmic tasks. In a robotic implementation of our experiment, we study the minimum feedback that is required to achieve robust control. A limited source of feedback, measuring only the impact times, is shown to give promising results. A second field of investigation concerns the human behavior in the same impact juggling task. We study how a variation of the tempo induces a transition between two distinct control strategies with different sensory feedback requirements. Analogies and differences between the robotic and human behaviors are obviously of high relevance in such a flexible setup.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Ronsse, Renaud;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore)
Lefèvre, Philippe;  Université Catholique de Louvain - UCL
Sepulchre, Rodolphe ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Language :
English
Title :
Robotics and neuroscience: A rhythmic interaction
Publication date :
May 2008
Journal title :
Neural Networks
ISSN :
0893-6080
eISSN :
1879-2782
Publisher :
Pergamon Press - An Imprint of Elsevier Science
Volume :
21
Issue :
4
Pages :
577-583
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBi :
since 16 November 2010

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