Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1014Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Veskos:2006,
author = {Veskos, P and Demiris, Y},
pages = {197--202},
publisher = {AISB},
title = {Experimental comparison of the van der Pol and Rayleigh nonlinear oscillators for a robotic swinging task},
url = {http://www.aisb.org.uk/publications/proceedings/aisb2006/AISB06_vol1.pdf},
year = {2006}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - In this paper, the effects of different lower-level building blocks of a robotic swinging system are explored, from the perspective of motor skill acquisition. The van der Pol and Rayleigh oscillators are used to entrain to the system’s natural dynamics, with two different network topologies being used: a symmetric and a hierarchical one. Rayleigh outperformed van der Pol regarding maximum oscillation amplitudes for every morphological configuration examined. However, van der Pol started large amplitude relaxation oscillations faster, attaining better performance during the first half of the transient period. Hence, even though there are great similarities between the oscillators, differences in their resultant behaviours are more pronounced than originally expected.
AU - Veskos,P
AU - Demiris,Y
EP - 202
PB - AISB
PY - 2006///
SP - 197
TI - Experimental comparison of the van der Pol and Rayleigh nonlinear oscillators for a robotic swinging task
UR - http://www.aisb.org.uk/publications/proceedings/aisb2006/AISB06_vol1.pdf
UR - http://hdl.handle.net/10044/1/12705
ER -