A dynamical systems approach to learning: A frequency-adaptive hopper robot

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 3630 LNAI, Issue , 2005, Pages 210-220

  Buchli, Jonas ^a   Righetti, Ludovic ^a   Ijspeert, Auke Jan ^a  

^a EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICAL SYSTEMS APPROACHES; HOPF OSCILLATORS; SELF-ORGANIZATION PROCESSES; SPRING-MASS HOPPERS;

ALGORITHMS; CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); OSCILLATORS (ELECTRONIC); RESONANCE; ROBOTICS; ROBOTS;

LEARNING SYSTEMS;

EID: 33646002918     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/11553090_22     Document Type: Conference Paper

References (20)

1. Movies of the spring-mass hopper are available at http://birg.epfl.ch.
2. Open Dynamics Engine Documentation, available at http://ode.org.
3. R. Blickhan and R.J. Full. Similarity in multilegged locomotion: bouncing like a monopode. Journal of Comparative Physiology, 173:509-517, 1993.
4. J. Buchli and A.J. Ijspeert. A simple, adaptive locmotion toy-system. In S. Schaal, A.J. Ijspeert, A. Billard, S. Vijayakumar, J. Hallam, and J.A. Meyer, editors, Proceedings SAB04- MIT Press, Cambridge, 2004.
5. M. Buehler, R. Battaglia, R. Cocosco, G. Hawker, J. Sarkis, and K. Yamazaki. SCOUT: a simple quadruped that walks, climbs, and runs. In Proceedings ICRA, volume 2, pages 1707-1712, 1998.
6. J.G. Cham, J.K. Karpick, and M.R. Cutkosky. Stride period adaptation of a biomimetic running hexapod. Int. J. of Robotics Research, 23(2):141-153, 2004.
7. J.J. Collins and S.A. Richmond. Hard-wired central pattern generators for quadrupedal locomotion. Biological Cybernetics, 71(5):375-385, 1994.
8. M. de Lasa and M. Buehler. Dynamic compliant quadruped walking. In ICRA 8001, volume 3, pages 3153-3158, 2001.
9. V.M. Eguíluz, M. Ospeck, Y. Choe, A.J. Hudspeth, and M.O. Magnasco. Essential nonlinearities in hearing. Phys Rev Lett. 84(22):5232-5235, 2000.
10. Y. Fukuoka, H. Kimura, and A.H. Cohen. Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. The International Journal of Robotics Research, 3-4:187-202, 2003.
11. R.J. Full and D.E. Koditscheck. Templates and anchors: neuromechanical hypotheses of legged locomotion on land. J Exp Biology, 202:3325-3332, 1999.
12. H. Geyer, A. Seyfarth, and R. Blickhan. Spring-mass running: simple approximate solution and application to gait stability. J. Theor. Biol., 232(3):315-328, 2004.
13. F. lida and R. Pfeifer. ""Cheap" rapid locomotion of a quadruped robot: Selfstabilization of bounding gait". In F. Groen et al., editor, Intelligent Autonomous Systems 8, pages 642-649. IOS Press, 2004.
14. H. Kimura, Y. Fukuoka, and A.V. Cohen. Biologically inspired adaptive dynamic walking of a quadruped robot. In From Animals to Animals 8. Proceedings SAB'04, pages 201-210. MIT Press, 2004.
15. O. Michel. Webots: Professional mobile robot simulation. Int. J. Adv. Robotic Systems, 1(1):39-42, 2004.
16. J. Nishii. A learning model for oscillatory networks. Neural Networks, 11(2):249-257, 1998.
17. M. Raibert and J.K. Hodgins. Biol. Neural Networks in Invertebrate Neuroethology and Robotics, chapter Legged Robots, pages 319-354. Academic Press, 1993.
18. L. Righetti, J. Buchli, and A.J. Ijspeert. Dynamic Hebbian learning for adaptive frequency oscillators. Physica D, 2005. submitted.
19. G. Taga. A model of the neuro-musculo-skeletal system for anticipatory adjustment of human locomotion during obstacle avoidance. Biol. Cybernetics, 78:9-17, 1998.
20. K. Tsuchiya, S. Aoi, and K. Tsujita. Locomotion control of a multi-legged locomotion robot using oscillators. In 2002 IEEE Intl. Conf. SMC, volume 4, 2002.