Control of movement time and sequential action through attractor dynamics : a simulation study demonstrating object interception and coordination

Detalhes bibliográficos
Autor(a) principal: Schöner, Gregor
Data de Publicação: 2001
Outros Autores: Santos, Cristina
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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spelling 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
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