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Rapbid synchronization and accurate phase-locking of rhythmic motor primitives

2005

Conference Paper

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Rhythmic movement is ubiquitous in human and animal behavior, e.g., as in locomotion, dancing, swimming, chewing, scratching, music playing, etc. A particular feature of rhythmic movement in biology is the rapid synchronization and phase locking with other rhythmic events in the environment, for instance music or visual stimuli as in ball juggling. In traditional oscillator theories to rhythmic movement generation, synchronization with another signal is relatively slow, and it is not easy to achieve accurate phase locking with a particular feature of the driving stimulus. Using a recently developed framework of dynamic motor primitives, we demonstrate a novel algorithm for very rapid synchronizaton of a rhythmic movement pattern, which can phase lock any feature of the movement to any particulur event in the driving stimulus. As an example application, we demonstrate how an anthropomorphic robot can use imitation learning to acquire a complex rumming pattern and keep it synchronized with an external rhythm generator that changes its frequency over time.

Author(s): Pongas, D. and Billard, A. and Schaal, S.
Book Title: IEEE International Conference on Intelligent Robots and Systems (IROS 2005)
Pages: 2911-2916
Year: 2005

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Edmonton, Alberta, Canada, Aug. 2-6
Cross Ref: p2578
Note: clmc
URL: http://www-clmc.usc.edu/publications/P/pongas-IROS2005.pdf

BibTex

@inproceedings{Pongas_IICIRS_2005,
  title = {Rapbid synchronization and accurate phase-locking of rhythmic motor primitives},
  author = {Pongas, D. and Billard, A. and Schaal, S.},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS 2005)},
  pages = {2911-2916},
  address = {Edmonton, Alberta, Canada, Aug. 2-6},
  year = {2005},
  note = {clmc},
  crossref = {p2578},
  url = {http://www-clmc.usc.edu/publications/P/pongas-IROS2005.pdf}
}