Realization of biped locomotion by motion pattern learning.
نویسندگان
چکیده
منابع مشابه
Learning to Step: Models of Foot Placement for Biped Locomotion
In this paper, we propose different models for estimating foot placement in biped locomotion. We use either learning approach or optimization approach to obtain such models. We evaluate these models in terms of robustness and complexity. Our results show that these models are more flexible than Inverted Pendulum Model and they provide more agility for biped locomotion under different walking sp...
متن کاملLearning from demonstration and adaptation of biped locomotion
In this paper, we introduce a framework for learning biped locomotion using dynamical movement primitives based on non-linear oscillators. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like locomotion. We suggest dynamical movement primitives as a central pattern generator (CPG) of a biped robot, an approach we have previously proposed fo...
متن کاملSensorimotor Control of Biped Locomotion
Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...
متن کاملA Simple Reinforcement Learning Algorithm For Biped Locomotion
We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state at the middle of a step and foot placement to a state at next middle of a step. We also modify the desired walking cycle frequency bas...
متن کاملLocomotion control of a biped locomotion robot using nonlinear oscillators
This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1985
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.3.177