Timing Feedback Control of a Rhythmic System

Ronsse, Renaud; Lefevre, Philippe; Sepulchre, Rodolphe

doi:10.1109/CDC.2005.1583145

Download

Paper published in a book (Scientific congresses and symposiums)

Timing Feedback Control of a Rhythmic System

Ronsse, Renaud; Lefevre, Philippe; Sepulchre, Rodolphe

2005 • In Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference 2005

Peer reviewed

Permalink
https://hdl.handle.net/2268/78750

DOI
10.1109/CDC.2005.1583145

Files (1)Send to Details Statistics Bibliography Similar publications

Files

Full Text

38_timing feedback control of a rhythmic system.pdf

Author preprint (276.98 kB)

Download

© IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

All documents in ORBi are protected by a user license.

Send to

RIS BibTex APA Chicago Permalink X Linkedin

Details

Abstract :

[en] This paper addresses the question relative to the role of sensory feedback in rhythmic tasks. We study the properties of a sinusoidally vibrating wedge-billiard as a model for 2-D bounce juggling. If this wedge is actuated with an harmonic sinusoidal input, it has been shown that some periodic orbits are exponentially stable. This paper explores an intuitive method to enlarge the parametric stability region of the simplest of these orbits. Accurate processing of timing is proven to be an important key to achieve frequency-locking in rhythmic tasks.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Ronsse, Renaud; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore)

Lefevre, Philippe; Université Catholique de Louvain - UCL > Center for Systems Engineering and Applied Mechanics

Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Language :

English

Title :

Timing Feedback Control of a Rhythmic System

Publication date :

December 2005

Event name :

44th IEEE Conference on Decision and Control and European Control Conference 2005

Event place :

Sevilla, Spain

Event date :

du 12 au 15 décembre 2005

By request :

Yes

Audience :

International

Main work title :

Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference 2005

Peer reviewed :

Peer reviewed

Available on ORBi :

since 07 December 2010

Statistics

Number of views

32 (0 by ULiège)

Number of downloads

160 (0 by ULiège)

More statistics

Scopus citations^®

Scopus citations^®
without self-citations

OpenCitations

OpenAlex citations

Bibliography

M. Buehler, D. Koditschek, and P. Kindlmann, "A one degree of freedom juggler in a two degree of freedom environment," in IEEE/RSJ Conf. intelligent Systems and Robots, Tokyo, Japan, 1988, pp. pp. 91-97.
_, "A family of robot control strategies for intermittent dynamical environments," IEEE Control Systems Magazine, vol. 10, no. 2, pp. pp. 16-22, 1990.
_, "Planning and control of robotic juggling and catching tasks," International Journal of Robotics Research, vol. 13, no. 2, pp. 101-118, 1994.
U. Saranli, M. Buehler, and D. Koditschek, "Rhex - a simple and highly mobile hexapod robot," International Journal of Robotics Research, vol. 20, no. 7, pp. 616-631, 2001.
R. Sepulchre and M. Gerard, "Stabilization of periodic orbits in a wedge billiard," in 42nd IEEE Conference on Decision and Control, Hawaii, 2003.
R. Ronsse, P. Lefevre, and R. Sepulchre, "Open-loop stabilization of 2d impact juggling," in IFAC NOLCOS, Stuttgart, Germany, 2004, pp. 1157-1162.
_, "Sensorless stabilization of bounce juggling," IEEE Transactions on Robotics, (accepted).
P. J. Holmes, "The dynamics of repeated impacts with a sinusoidally vibrating table," J. Sound Vibration, vol. 84, no. 2, pp. 173-189, 1982.
J. Guckenheimer and P. J. Holmes, Nonlinear oscillations, dynamical systems and bifurcations of vector fields. New York: Springer-Verlag, 1986.
J. A. Saunders and D. C. Knill, "Visual feedback control of hand movements," J Neurosci, vol. 24, no. 13, pp. 3223-34, 2004.
S. H. Scott, "Optimal feedback control and the neural basis of volitional motor control," Nat Rev Neurosci, vol. 5, no. 7, pp. 532-46, 2004.
P. A. Lewis and R. C. Miall, "Distinct systems for automatic and cognitively controlled time measurement: evidence from neuroimaging," Curr Opin Neurobiol, vol. 13, no. 2, pp. 250-5, 2003.
S. Schaal, D. Sternad, R. Osu, and M. Kawato, "Rhythmic arm movement is not discrete," Nat Neurosci, vol. 7, no. 10, pp. 1136-43, 2004.
A. D. Kuo, "The relative roles of feedforward and feedback in the control of rhythmic movements," Motor Control, vol. 6, no. 2, pp. 129-45, 2002.
H. E. Lehtihet and B. N. Miller, "Numerical study of a billiard in a gravitational field," Phys. D, vol. 21, no. 1, pp. 93-104, 1986.
R. Ronsse, P. Lefevre, and R. Sepulchre, "Eye-hand coordination in a bimanual bounce juggling task," in Society for Neuroscience 34th Annual Meeting, San Diego, CA, 2004.