Behaviour generation in humanoids by learning potential-based policies from constrained motion

Applied Bionics and Biomechanics

Volumn 5, Issue 4, 2008, Pages 195-211

  Howard, Matthew ^a   Klanke, Stefan ^a   Gienger, Michael ^b   Goerick, Christian ^b   Vijayakumar, Sethu ^a  

^a UNIVERSITY OF EDINBURGH   (United Kingdom)

^b HONDA RESEARCH INSTITUTE EUROPE GMBH   (Germany)

Author keywords

Constrained motion; Imitation learning; Kinematics and dynamics

Indexed keywords

ANTHROPOMORPHIC ROBOTS; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; ROBOTS;

CONSTRAINED MOTION; HIGH-DIMENSIONAL; IMITATION LEARNING; KINEMATICS AND DYNAMICS; LEARNING POTENTIAL; MOVEMENT PLANNING; POLICY LEARNING; POTENTIAL FUNCTION;

ROBOT PROGRAMMING;

EID: 67749122195     PISSN: 11762322     EISSN: 17542103     Source Type: Journal    
DOI: 10.1080/11762320902789830     Document Type: Article

References (56)

1. Alissandrakis A, Nehaniv C, Dautenhahn K. 2007. Correspondence mapping induced state and action metrics for robotic imitation. IEEE Trans. Sys. Man Cybernetics 37(2):299-307.
2. Antonelli G, Arrichiello F, Chiaverini S. 2005. The null-space-based behavioral control for soccer-playing mobile robots. Proceedings 2005 IEEE international conference on advanced intelligent mechatronics, Monterey, CA, USA.
3. Atkeson CG, Schaal S. 1997. Robot learning from demonstration. Proceedings 1997 international conference on machine learning. p. 12-20.
4. Billard A, Calinon S, Dillmann R, Schaal S. 2007. Robot programming by demonstration. In: Handbook of Robotics. MIT Press.
5. Calinon S, Billard A. 2007. Learning of gestures by imitation in a humanoid robot. Proceedings 2007 imitation & social learning in robots, humans & animals: Behavioural, social & communicative dimensions.
6. Chajewska U, Koller D, Ormoneit D. 2001. Learning an agent's utility function by observing behavior. Proceedings 2001 international conference on machine learning.
7. Chajewska U, Getoor L, Norman J, Shahar Y. 1998. Utility elicitation as a classification problem. Proceedings 1998 conference on uncertainty in artificial intelligence.
8. Chalodhorn R, Grimes DB, Maganis GY, Rao RP, Asada M. 2006. Learning humanoid motion dynamics through sensory-motor mapping in reduced dimensional space. Proceedings 2006 ICRA.
9. Chaumette F, Marchand A. 2001. A redundancy-based iterative approach for avoiding joint limits: Appl. Vis. Servoing 17(5).
10. Choi SI, Kim BK. 2000. Obstacle avoidance control for redundant manipulators using collidability measure. Robotica 18(2):143-151.
11. Conner D, Rizzi A, Choset H. 2003. Composition of local potential functions for global robot control and navigation. Proceedings 2003 IEEE international conference on intelligent robots and systems.
12. D'Souza A, Vijayakumar S, Schaal S. 2001. Learning inverse kinematics. Proceedings 2001 IEEE international conference on intelligent robots and systems.
13. English J, Maciejewski A. 2000. On the implementation of velocity control for kinematically redundant manipulators. IEEE Trans. Sys. Man and Cybern. 30(3):233-237.
14. Gienger M, Janssen H, Goerick C. 2005. Task-oriented whole body motion for humanoid robots. Proceedings IEEE International conference on humanoid robots.
15. Grimes D, Chalodhorn R, Rao R. 2006. Dynamic imitation in a humanoid robot through nonparametric probabilistic inference. Proceedings 2006 robotics: science and systems, Conference proceedings.
16. Grimes D, Rashid D, Rao R. 2007. Learning nonparametric models for probabilistic imitation. Adv. Neural Infor. Proce. Syst.
17. Guenter F, Hersch M, Calinon S, Billard A. 2007. Reinforcement learning for imitating constrained reaching movements. RSJ Advanced Robotics, Special Issue on Imitative Robots 21(13):1521-1544.
18. Howard M, Gienger M, Goerick C, Vijayakumar S. 2006. Learning utility surfaces for movement selection. Proceedings 2006 IEEE International conference robotics and biomimetics.
19. Howard M, Vijayakumar S. 2007. Reconstructing null-space policies subject to dynamic task constraints in redundant manipulators. W.S. Robot.
20. Howard M, Klanke S, Gienger M, Goerick C, Vijayakumar S. 2008. Learning potential-based policies from constrained motion. Proceedings 2008 IEEE International conference on humanoid robots.
21. Ijspeert A, Nakanishi J, Schaal S. 2002. Movement imitation with nonlinear dynamical systems in humanoid robots. Proceedings 2002 ICRA.
22. Ijspeert A, Nakanishi J, Schaal S. 2003. Learning attractor landscapes for learning motor primitives. Proceedings 2003 NIPS.
23. Inamura T, Toshima I, Tanie H, Nakamura Y. 2004. Embodied Symbol emergence based on mimesis theory. Int. J. Robotics Res. 23(4):363-377.
24. Itiki C, Kalaba R, Udwadia F. 1996. Inequality constraints in the process of jumping. Appl Math Comput. 78:163-173.
25. Kannan R, Vempala S, Vetta A. 2004. On clusterings: Good, bad and spectral. J. of the ACM 51(3):497-515.
26. Khatib O. 1985. Real-time obstacle avoidance for manipulators and mobile robots. Proceedings 1985 ICRA.
27. Khatib O. 1987. A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE J. Robotics and Automation RA-3(1):43-53.
28. Körding K, Fukunaga I, Howard I, Ingram J, Wolpert D. 2004. A neuroeconomics approach to inferring utility functions in sensorimotor control. PLoS Biol 2(10):330.
29. Körding K, Wolpert D. 2004. The loss function of sensorimotor learning. Proceedings 2004 National academy of sciences.
30. Liégeois A. 1977. Automatic supervisory control of the configuration and behavior of multibody mechanisms. Proceedings 1977 IEEE Transaction system, man, and cybernetics.
31. Mattikalli R, Khosla P. 1992. Motion constraints from contact geometry: Representation and analysis. Proceedings 1992 ICRA.
32. Murray RM, Li Z, Sastry SS. 1994. A Mathematical Introduction to Robotic Manipulation. CRC Press.
33. Mussa-Ivaldi FA. 1997. Nonlinear force fields: A distributed system of control primitives for representing and learning movements. Proceedings of the 1997 International Symposium on Computational Intelligence in Robotics and Automation. p. 84-90.
34. Nakamura Y. 1991. Advanced robotics: Redundancy and optimization. Addison Wesley.
35. Nakanishi J, Morimoto J, Endo G, Cheng G, Schaal S, Kawato M. 2004. Learning from demonstration and adaptation of biped locomotion. Robotics and Autonomous Sys. 47(2-3):79-91.
36. Ohta K, Svinin M, Luo Z, Hosoe S, Laboissiere R. 2004. Optimal trajectory formation of constrained human arm reaching movements. Biol. Cybern. 91:23-36.
37. Park J, Khatib O. 2006. Contact consistent control framework for humanoid robots. Proceedings 2006 ICRA.
38. Peters J, Mistry M, Udwadia F, Nakanishi J, Schaal S. 2008. A unifying framework for robot control with redundant DOFs. Autonomous Robots J. 24:1-12.
39. Peters J, Schaal S. 2008. Learning to control in operational space. Int. J. Robotics Res. 27:197-212.
40. Ren J, McIsaac KA, Patel RV. 2006. Modified Newton's method applied to potential field-based navigation for mobile robots. Proceedings 2006 IEEE transactions on robotics.
41. Rimon E, Koditschek D. 1992. Exact robot navigation using artificial potential functions. IEEE Trans. on Robotics and Automation 8(5):501-518.
42. Sapio VD, Khatib O, Delp S. 2006. Task-level approaches for the control of constrained multibody systems.
43. Sapio VD, Warren J, Khatib O, Delp S. 2005. Simulating the task-level control of human motion: A methodology and framework for implementation. Vis. Comput. 21(5):289-302.
44. Schaal S, Ijspeert A, Billard A. 2003. Computational approaches to motor learning by imitation. Phil. Trans. Biol Sci. 358:537-547.
45. Sentis L, Khatib O. 2004. Task-oriented control of humanoid robots through prioritization. Proceedings 2004 IEEE International conference on humanoid robots.
46. Sentis L, Khatib O. 2005. Synthesis of whole-body behaviors through hierarchical control of behavioral primitives. Int. J. Humanoid Robot 2(4):505-518.
47. Sentis L, Khatib O. 2006. A Whole-body control framework for humanoids operating in human environments. Proceedings 2006 ICRA. May.
48. Sugiura H, Gienger M, Janssen H, Goerick C. 2007. Real-time collision avoidance with whole body motion control for humanoid robots. Proceedings 2007 IROS.
49. Sutton R, Barto A. 1998. Reinforcement Learning: An Introduction. MIT Press, Cambridge, MA, USA.
50. SvininM,OdashimaT,OhnoS,LuoZ,HosoeS.2005.Ananalysis of reaching movements in manipulation of constrained dynamic objects. Proceedings 2005 IROS.
51. Takano W, Yamane K, Sugihara T, Yamamoto K, Nakamura Y. 2006. Primitive communication based on motion recognition and generation with hierarchical mimesis model. Proceedings 2006 ICRA.
52. Todorov E. 2006. Optimal Control Theory. In: Bayesian Brain. MIT Press.
53. Verbeek J, Roweis S, Vlassis N. 2004. Non-linear CCA and PCA by alignment of local models. Adv. Neural Inform. Proces. Syst.
54. Verbeek J. 2006. Learning non-linear image manifolds by combining local linear models. IEEE Trans. Pattern Ana & Mach Intell 28(8):1236-1250.
55. Vijayakumar S, D'Souza A, Schaal S. 2005. Incremental online learning in high dimensions. Neural Comp. 17:2602-2634.
56. Yoshikawa T. 1985. Manipulability of robotic mechanisms. Int. J. Robotics Res. 4(2):3-9.