Skip to main content
Article thumbnail
Location of Repository

Adaptivity through alternate freeing and freezing of degrees of freedom

By Max Lungarella and Dr Luc Berthouze

Abstract

Starting with fewer degrees of freedom has been shown to enable a more efficient exploration of the sensorimotor space. While not necessarily leading to optimal task performance, it results in a smaller number of directions of stability, which guide the coordination of additional degrees of freedom. The developmental release of additional degrees of freedom is then expected to allow for optimal task performance and more tolerance and adaptation to environmental interaction. In this paper, we test this assumption with a small-sized humanoid robot that learns to swing under environmental perturbations. Our experiments show that a progressive release of degrees of freedom alone is not sufficient to cope with environmental perturbations. Instead, alternate freezing and freeing of the degrees of freedom is required. Such finding is consistent with observations made during transitional periods in acquisition of skills in infants

Topics: Dynamical Systems, Developmental Psychology, Robotics
Year: 2002
OAI identifier: oai:cogprints.org:2663
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://cogprints.org/2663/1/ic... (external link)
  • http://cogprints.org/2663/ (external link)
  • Suggested articles

    Citations

    1. (1994). A Dynamic Systems Approach to the Development of Cognition and Action, doi
    2. (1995). Adaptive dynamics of the leg movement patterns in human infants: Age-related differences in limb control”,
    3. (2002). Adaptivity Through Physical Immaturity”,
    4. (1998). and Y.Kuniyoshi,Y., “Emergence of categorization of coordinated visual behavior through embodied interaction”,
    5. (1995). Emergent Forms: Origins and Early Development of Human Action and Perception,
    6. (1992). Free(z)ing degrees of freedom in skill acquisition”, doi
    7. (1997). Freezing and freeing degrees of freedom in a model neuro-musculo skeletal systems for the development of locomotion”,
    8. (1993). Learning and development in neural networks: The importance of starting small”,
    9. (1982). Limitations on input as a basis for neural organization and perceptual development: A preliminary theoretical statement”, doi
    10. (1991). Self-organized control of bipedal locomotion by neural oscillators in unpredictable environments”,
    11. (1985). Sustained oscillations generated by mutually inhibiting neurons with adaptation”,
    12. (1989). The acquisition of coordination: Preliminary analysis of learning to write”,
    13. (1967). The Coordination and Regulation of Movements,

    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.