A DYNAMICAL SYSTEMS APPROACH TO RHYTHMIC COORDINATION BETWEEN ROBOTS

摘要

This paper describes a hierarchical architecture for rhythmic coordination between robots, which suits a juggling-like ball passing task involving sensory-motor coordination. The proposed architecture contains two passive-control mechanisms, which include (1) open-loop stability of mechano-physical system and (2) entrainment between mechano-physical system and neuron-like pattern generating system. We demonstrate a stable coordinated motion of robots in the two-ball passing task, and show the effectiveness of our approach which exploits system dynamics caused by the interaction between the envirnment and the robots.