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Rhythmic movement by neural oscillator with periodic stimulus

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2 Author(s)
Hirai, H. ; Graduate Sch. of Eng. Sci., Osaka Univ., Japan ; Miyazaki, F.

This paper describes the properties of a set of simple neural network oscillators suited to two robotic tasks. One robotic task is "wall-bouncing", in which the robot repeats the process of hitting balls that rebound from the wall. Another robotic task is "passing a ball", in which two robots repeat the process of passing balls to each other. The motions of the robot (paddle) are controlled by a set of neural oscillators consisting of four weakly coupled Bonhoffer-van der Pol (BVP) oscillators. We demonstrate that rhythmic movement of the paddle emerges as a stable limit cycle generated by the global entertainment between the paddle, the neural system, and the environment, including balls.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:1 )

Date of Conference:

14-19 Sept. 2003