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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.
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on (Volume:1 )
Date of Conference: 14-19 Sept. 2003