{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:04:49Z","timestamp":1761487489401},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2005,11,17]],"date-time":"2005-11-17T00:00:00Z","timestamp":1132185600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2006,5]]},"abstract":"<jats:p>This paper describes a hierarchical architecture for rhythmic movement generation, which suits a juggling-like task involving sensory-motor coordination. Our approach, which is interpreted as a \u201cbidirectional weak coupling\u201d to the environment, does not require a continuous monitoring of the environment, but 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 contains two passive-control mechanisms, the \u201centrainment mechanism\u201d and the \u201copen-loop stable mechanism,\u201d that lead to the emergence of a self-organized temporal order in the whole system. This dynamic temporal pattern enables a robot to perform a stable rhythmic movement. We demonstrate a robot which juggles two balls rebounding off the wall and confirm the effectiveness of our approach.<\/jats:p>","DOI":"10.1017\/s0263574705002110","type":"journal-article","created":{"date-parts":[[2005,11,17]],"date-time":"2005-11-17T10:50:35Z","timestamp":1132224635000},"page":"273-293","source":"Crossref","is-referenced-by-count":2,"title":["Emergence of a dynamic pattern in wall-bouncing juggling: self-organized timing selection for rhythmic movement"],"prefix":"10.1017","volume":"24","author":[{"given":"Hiroaki","family":"Hirai","sequence":"first","affiliation":[]},{"given":"Fumio","family":"Miyazaki","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2005,11,17]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574705002110","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,7]],"date-time":"2019-04-07T20:32:58Z","timestamp":1554669178000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574705002110\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,11,17]]},"references-count":0,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2006,5]]}},"alternative-id":["S0263574705002110"],"URL":"https:\/\/doi.org\/10.1017\/s0263574705002110","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2005,11,17]]}}}