Abstract
This paper proposes a hierarchical architecture for rhythmic movement generation, which suits to a juggling-like task involving sensory-motor coordination. The approach has a bidirectional weak coupling to the environment and it can adapt a robot to a change in the environment owing to the interaction between the robot and the environment at the ball contact. The proposed architecture consists of an active-control mechanism and two passive-control mechanisms which include open-loop stability of the mechano-physical system and entrainment between mechano-physical and neuro-like pattern generating systems. The synergy of these different mechanisms leads to the emergence of dynamic temporal pattern and enables the robot to perform the stable rhythmic movement of the successful task.
