Passive stabilization of juggling-like ball-passing task

This paper describes a hierarchical architecture for rhythmic coordination between robots, which suits a juggling-like ball-passing task involving sensory-motor coordination. The proposed architecture contains two passive-control mechanisms, which include (1) open-loop stability of mechano-physical system and (2) entrainment between mechano-physical system and neuron-like pattern generating system. We demonstrate a stable motion pattern between robots and emphasize that these passive-control mechanisms lead to the emergence of dynamic coordination for the successful task