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| Record Number | 1934 |
| Reference Type | Journal Article |
| Author(s) | Nakanishi, J.;Morimoto, J.;Endo, G.;Cheng, G.;Schaal, S.;Kawato, M. |
| Year | 2004 |
| Title | Learning from demonstration and adaptation of biped locomotion |
| Journal/Conference/Book Title | Robotics and Autonomous Systems |
| Keywords | movement primitives, locomotion, phase resetting, learning from demonstration |
Abstract |
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 for learning and encoding complex human movements. Demonstrated trajectories are learned through movement primitives by locally weighted regression, and the frequency of the learned trajectories is adjusted automatically by a novel frequency adaptation algorithmbased on phase resetting and entrainment of coupled oscillators. Numerical simulations and experimental implementation on a physical robot demonstrate the effectiveness of the proposed locomotioncontroller.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/N/nakanishi-RAS2004.pdf
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| Volume | 47 |
| Number | 2-3 |
| Pages | 79-91 |
| Short Title | Learning from demonstration and adaptation of biped locomotion |
| 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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