Black circles correspond to inhibitory connections,open circles to excitatory.
The v i connections correspond to self-inhibition, and the y i connections give the mutual inhibition. Neural oscillators have been used to generate repetitive arm motions. The cou-pling between a set of oscillators and the physical arm of the robot achievesmany different tasks using the same software architecture and without explicitmodels of the arm or environment. The tasks include swinging pendulums attheir resonant frequencies, turning cranks, and playing with a slinky. By altering the stiffness and damping of the arm, thedynamical characteristics of the arm can be changed.