Learning from demonstration and adaptation of biped locomotion (2004)
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| Venue: | Robotics and Autonomous Systems |
| Citations: | 59 - 6 self |
BibTeX
@ARTICLE{Nakanishi04learningfrom,
author = {Jun Nakanishi and Jun Morimoto and Gen Endo and Gordon Cheng and Stefan Schaal and Mitsuo Kawato},
title = {Learning from demonstration and adaptation of biped locomotion},
journal = {Robotics and Autonomous Systems},
year = {2004},
volume = {47},
pages = {79--91}
}
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Abstract
Abstract — In this paper, we report on our research for learning biped locomotion from human demonstration. 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 CPG of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajectories are learned through the movement primitives by locally weighted regression, and the frequency of the learned trajectories is adjusted automatically by a novel frequency adaptation algorithm based on phase resetting and entrainment of oscillators. Numerical simulations demonstrate the effectiveness of the proposed locomotion controller. I.
