Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination
Autor(a) principal: | |
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Data de Publicação: | 2001 |
Outros Autores: | |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/4327 |
Resumo: | The timing of movements and of action sequences is difficult when on-line coupling to sensory information is a requirement. That requirement arises in most behavior-based robot architectures, in which relatively low-level and often noisy sensor input is used to initiate and steer action. We show how an attractor dynamics approach to the generation of behavior in such architectures can be extended to the timing of motor acts. We propose a two-layer architecture, in which a competitive "neural" dynamics controls the qualitative dynamics of a second, "timing" layer. At that second layer, periodic attractors generate timed movement. By activating such limit cycles over limited time intervals, discrete movements and movement sequences can be obtained. We demonstrate the approach by simulating two tasks that involve control of timing: the interception of moving objects by a simple two-degree-of-freedom robot arm and the temporal coordination of the end-effector motions of two six-degree-of-freedom robot arms. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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7160 |
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Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordinationNon-linear dynamical systems approachRoboticsTrajectoriesTimingThe timing of movements and of action sequences is difficult when on-line coupling to sensory information is a requirement. That requirement arises in most behavior-based robot architectures, in which relatively low-level and often noisy sensor input is used to initiate and steer action. We show how an attractor dynamics approach to the generation of behavior in such architectures can be extended to the timing of motor acts. We propose a two-layer architecture, in which a competitive "neural" dynamics controls the qualitative dynamics of a second, "timing" layer. At that second layer, periodic attractors generate timed movement. By activating such limit cycles over limited time intervals, discrete movements and movement sequences can be obtained. We demonstrate the approach by simulating two tasks that involve control of timing: the interception of moving objects by a simple two-degree-of-freedom robot arm and the temporal coordination of the end-effector motions of two six-degree-of-freedom robot arms.Fundação para a Ciência e a Tecnoloia (FCT)Universidade do MinhoSchöner, GregorSantos, Cristina2001-07-182001-07-18T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/4327engINTELLIGENT SYMPOSIUM ON INTELLIGENT ROBOTIC SYSTEMS - SIRS'2001, 9, Toulouse, 2001 - "Intelligent Symposium on Intelligent Robotic Systems – [S.l. :s.n., 2001]info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-05-11T06:54:17Zoai:repositorium.sdum.uminho.pt:1822/4327Portal AgregadorONGhttps://www.rcaap.pt/oai/openairemluisa.alvim@gmail.comopendoar:71602024-05-11T06:54:17Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination |
title |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination |
spellingShingle |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination Schöner, Gregor Non-linear dynamical systems approach Robotics Trajectories Timing |
title_short |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination |
title_full |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination |
title_fullStr |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination |
title_full_unstemmed |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination |
title_sort |
Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination |
author |
Schöner, Gregor |
author_facet |
Schöner, Gregor Santos, Cristina |
author_role |
author |
author2 |
Santos, Cristina |
author2_role |
author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Schöner, Gregor Santos, Cristina |
dc.subject.por.fl_str_mv |
Non-linear dynamical systems approach Robotics Trajectories Timing |
topic |
Non-linear dynamical systems approach Robotics Trajectories Timing |
description |
The timing of movements and of action sequences is difficult when on-line coupling to sensory information is a requirement. That requirement arises in most behavior-based robot architectures, in which relatively low-level and often noisy sensor input is used to initiate and steer action. We show how an attractor dynamics approach to the generation of behavior in such architectures can be extended to the timing of motor acts. We propose a two-layer architecture, in which a competitive "neural" dynamics controls the qualitative dynamics of a second, "timing" layer. At that second layer, periodic attractors generate timed movement. By activating such limit cycles over limited time intervals, discrete movements and movement sequences can be obtained. We demonstrate the approach by simulating two tasks that involve control of timing: the interception of moving objects by a simple two-degree-of-freedom robot arm and the temporal coordination of the end-effector motions of two six-degree-of-freedom robot arms. |
publishDate |
2001 |
dc.date.none.fl_str_mv |
2001-07-18 2001-07-18T00:00:00Z |
dc.type.driver.fl_str_mv |
conference paper |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/4327 |
url |
http://hdl.handle.net/1822/4327 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
INTELLIGENT SYMPOSIUM ON INTELLIGENT ROBOTIC SYSTEMS - SIRS'2001, 9, Toulouse, 2001 - "Intelligent Symposium on Intelligent Robotic Systems – [S.l. :s.n., 2001] |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
mluisa.alvim@gmail.com |
_version_ |
1817545132925255680 |