Fast time scale modulation of pattern generators realized by Echo State Networks
Jordan Ivanchev · 2013
There are many attempts in the field of robotics and artificial intelligence towards achieving a well-functioning architecture that can control an agent in a stable and elegant manner, while allowing for mixing of behaviors. However, state of the arts robots are far away from the coordinated, complex and graceful behavior that we can observe in animals. A popular approach towards tackling complex motor control problems is the employment of pattern generators. Several architectures have shown good performance, modulating and switching between different patterns. However, those methods perform gradual changes rather than the fast and yet smooth modulations of a pattern for a short duration of time, characteristic for reflexive actions. In this report I present a practical study of a technique that achieves changes in amplitude, frequency and shift of a periodic signal in the time frame of less than a period.