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| Record Number | 1803 |
| Reference Type | Conference Proceedings |
| Author(s) | Nakanishi, J.;Morimoto, J.;Endo, G.;Schaal, S.;Kawato, M. |
| Year | 2003 |
| Title | Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives |
| Journal/Conference/Book Title | Workshop on Robot Learning by Demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2003) |
| Keywords | movement primitives, locomotion, phase resetting, learning from demonstration |
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.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/N/nakanishi-IROS2003.pdf
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| Place Published | Las Vegas, NV, Oct. 27-31 |
| Short Title | Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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