A framework for learning biped locomotion with dynamical movement primitives

2004 4th IEEE-RAS International Conference on Humanoid Robots

Volumn 2, Issue , 2004, Pages 925-940

  Nakanishi, Jun ^a,b   Morimoto, Jun ^a,b   Endo, Gen ^b,c   Cheng, Gordon ^a,b   Schaal, Stefan ^b,d   Kawato, Mitsuo ^a,b  

^a Japan Science and Technology Agency   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^c SONY CORPORATION   (Japan)

^d UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

Biped locomotion; Dynamical movement primitives; Frequency Adaptation; Learning from demonstration; Phase resetting

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONTROL EQUIPMENT; LEARNING SYSTEMS; MOBILE ROBOTS; OSCILLATORS (MECHANICAL);

CENTRAL PATTERN GENERATORS (CPG); DYNAMICAL MOVEMENT PIMITIVES; FREQUENCY ADAPTATION; LEARNING FROM DEMONSTRATION; PHASE RESETTING;

BIPED LOCOMOTION;

EID: 17144380103     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (28)

1. H. Miyamoto, S. Schaal, F. Gandolfo, Y. Koike, R. Osu, E. Nakano, Y. Wada, and M. Kawato. A kendama learning robot based on bi-directional theory. Neural Networks, 9:1281-1302, 1996.
2. Hiroyuki Miyamoto and Mitsuo Kawato. A tennis serve and upswing learning robot based on bi-directional theory. Neural Networks, 11:1317-1329, 1998.
3. Stefan Schaal. Is imitation learning the route to humanoid robots? Trends in Cognitive Sciences, 3(6):233-242, 1999.
4. Auke Ijspeert, Jun Nakanishi, and Stefan Schaal. Learning attractor landscapes for learning motor primitives. In S. Becker, S. Thrun, and K Obermayer, editors, Advances in Neural Information Processing Systems 15, pages 1547-1554. MIT-Press, 2003.
5. Kiyoshi Matsuoka. Sustained oscillatons generated by mutually inhibiting neurons with adaptation. Biologial Cybernetics, 52:367-376, 1985.
6. G. Taga, Y. Yamaguchi, and H. Shimizu. Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment. Biological Cybernetics, 65:147-159, 1991.
7. Seiichi Miyakoshi, Gentaro Taga, Yasuo Kuniyoshi, and Akihiko Nagakubo. Three dimensional bipedal stepping motion using neural oscillators - towards humaniod motion in the real world. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 84-89, 1998.
8. Kazunori Hase and Nobutoshi Yamazaki. Computational evolution of human bipedal walking by a neuro-musculo-skeletal model. Artificial Life and Robotics, 3:133-138, 1999.
9. Gen Endo, Jun Morimoto, Jun Nakanishi, and Gordon Cheng. An empirical explo ration of a neural oscillator for biped locomotion. In Proceedings of the IEEE International Conference on Robotics and Automation, 2004. (to appear).
10. Yasuhiro Fukuoka, Hiroshi Kimura, and Avis H. Cohen. Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. International Journal of Robotics Research, 22(3-4):187-202, 2003.
11. Seiichi Miyakoshi, Masaki Yamakita, and Katsuhisa Furuta. Juggling control using neural oscillators. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1186-1193, 1994.
12. S. Kotosaka and S Schaal. Synchronized robot drumming by neural oscillator. In Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, 2000.
13. Matthew M. Williamson. Neural control of rhythmic arm movements. Neural Networks, 11:1379-1394, 1998.
14. E. Klavins and D. E. Koditschek. Phase regulation of decentralized cyclic robotic systems. International Journal of Robotics Research, 21:257-275, 2002.
15. Satoshi Ito, Hideo Yuasa, Zhi wei Luo, Masami Ito, and Dai Yanagihara. A mathematical model of adaptation in rhythmic motion to environmental changes. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, pages 275-280, 1997.
16. Katsuyoshi Tsujita, Kazuo Tsuchiya, and Ahmet Onat. Adaptive gait pattern control of a quadruped locomotion robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2318-2325, 2001.
17. Kazuo Tsuchiya, Shinya Aoi, and Katsuyoshi Tsujita. Locomotion control of a biped locomotion robot using nonlinear oscillaotrs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1745-1750, 2003.
18. Jan Peters, Sethu Vijayakumar, and Stefan Schaal. Reinforcement learning for humanoid robotics. In Proceedings of the Humanoids2003, Third IEEE-RAS International Conference on Humanoid Robots, 2003.
19. Mitsuo Kawato. Transient and steady state phase response curves of limit cycle oscillators. Journal of Mathematical Biology, 12:13-30, 1981.
20. Taiga Yamasaki, Taishin Nomura, and Shunsuke Sato. Possible functional roles of phase resetting during walking. Biological Cybernetics, 88(6):468-496, 2003.
21. Jun Morimoto, Garth Zeglin, and Christopher G. Atkeson. Minimax differential dynamic programming: Application to a biped walking robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1927-1932, 2003.
22. S. Schaal and C. G. Atkeson. Constructive incremental learning from only local information. Neural Computation, 10(8):2047-2084, 1998.
23. Auke Jan Ijspeert. A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biological Cybernetics, pages 331-348, 2001.
24. Yoshiki Kuramoto. Chemical Oscillations, Waves, and Turbulence. Springer-Verlag, 1984.
25. Kosuke Sekiyama, Jun Nakanishi, Isao Takagawa, Toshimitsu Higashi, and Toshio Fukuda. Self-organizing control of urban traffic signal network. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, pages 2481-2486, 2001.
26. Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato. Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives. Workshop on Robot Programming by Demonstra tion, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. manuscript available at www.cns.atr.jp/~jun/int_pub.html.
27. Yoshihiro Ehara and Sumiko Yamamoto. Introduction to Body-Dynamics - Analysis of Gait and Gait Initiation. Ishiyaku Publishers, 2002. in Japanese.
28. Jessica K. Hodgins. Biped gait transitions. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2092-2097, 1991.