Dynamic temporal patterns betwen robots: The self-organized timing selection in juggling-like passing the balls

This paper describes the hierarchical architecture for temporal coordination between robots, which suits to a juggling-like task involving sensory-motor coordination. The proposed architecture contains two passive control mechanisms, the "entrainment mechanism" and the "open loop stable mechanism," that lead to the emergence of self-organized temporal structure for rhythmic movement. This dynamic temporal pattern in the whole system realizes the stable coordinated motion between robots. We demonstrate two motion patterns between two robots passing two balls and confirm the effectiveness of our approach