Time Scale Hierarchies in the Functional Organization of Complex Behaviors
Figure 5
The figure shows the architecture's output generating the character ‘w’ with a different movement amplitude at each column: from left to right, the radius of the cylindrical manifold is the default one (r = 1), two times larger (r = 2) and its half (r = 0.5). From top to bottom: the architecture's output in the handwriting workspace (the plane x-y), and the state variables' time series (x, y, and z). The duration as well as the profile of each stroke's time series is almost identical for all values of the movement amplitude (the isochrony principle).