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Modelling Walking Behaviors Based on CPGs: A Simplified Bio-inspired Architecture
Högskolan i Skövde, Institutionen för kommunikation och information.
Högskolan i Skövde, Institutionen för kommunikation och information.
Högskolan i Skövde, Institutionen för kommunikation och information.
2012 (English)In: From Animals to Animats 12: 12th International Conference on Simulation of Adaptive Behavior, SAB 2012Odense, Denamark, August 27-30, 2012 / [ed] Tom Ziemke, Christian Balkenius, John Hallam, Berlin, Heidelberg: Springer Berlin/Heidelberg , 2012, 156-166 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this article, we use a recurrent neural network including four-cell core architecture to model the walking gait and implement it with the simulated and physical NAO robot. Meanwhile, inspired by the biological CPG models, we propose a simplified CPG model which comprises motorneurons, interneurons, sensor neurons and the simplified spinal cord. Within this model, the CPGs do not directly output trajectories to the servo motors. Instead, they only work to maintain the phase relation among ipsilateral and contralateral limbs. The final output is dependent on the integration of CPG signals, outputs of interneurons, motor neurons and sensor neurons (sensory feedback).

Place, publisher, year, edition, pages
Berlin, Heidelberg: Springer Berlin/Heidelberg , 2012. 156-166 p.
Series
Lecture Notes in Computer Science, ISSN 0302-9743 (print), 1611-3349 (online) ; 7426
Keyword [en]
CPGs, the NAO robot, Interneuron, Motorneuron
National Category
Computer Science
Research subject
Technology
Identifiers
URN: urn:nbn:se:liu:diva-106771DOI: 10.1007/978-3-642-33093-3_16Scopus ID: 2-s2.0-84866033575ISBN: 978-3-642-33092-6 (print)ISBN: 978-3-642-33093-3 (electronic)OAI: oai:DiVA.org:liu-106771DiVA: diva2:718755
Conference
12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, August 27-30, 2012
Available from: 2012-10-31 Created: 2014-05-22 Last updated: 2017-02-16Bibliographically approved
In thesis
1. Reinforcement Learning of Locomotion based on Central Pattern Generators
Open this publication in new window or tab >>Reinforcement Learning of Locomotion based on Central Pattern Generators
2014 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Locomotion learning for robotics is an interesting and challenging area in which the movement capabilities of animals have been deeply investigated and acquired knowledge has been transferred into modelling locomotion on robots. What modellers are required to understand is what structure can represent locomotor systems in different animals and how such animals develop various and dexterous locomotion capabilities. Notwithstanding the depth of research in the area, modelling locomotion requires a deep rethinking.

In this thesis, based on the umbrella of embodied cognition, a neural-body-environment interaction is emphasised and regarded as the solution to locomotion learning/development. Central pattern generators (CPGs) are introduced in the first part (Chapter 2) to generally interpret the mechanism of locomotor systems in animals. With a deep investigation on the structure of CPGs and inspiration from human infant development, a layered CPG architecture with baseline motion generation and dynamics adaptation interfaces are proposed. In the second part, reinforcement learning (RL) is elucidated as a good method for dealing with locomotion learning from the perspectives of psychology, neuroscience and robotics (Chapter 4). Several continuous-space RL techniques (e.g. episodic natural actor critic, policy learning by weighting explorations with returns, continuous action space learning automaton are introduced for practical use (Chapter 3). With the knowledge of CPGs and RL, the architecture and concept of CPG-Actor-Critic is constructed. Finally, experimental work based on published papers is highlighted in a path of my PhD research (Chapter 5). This includes the implementation of CPGs and the learning on the NAO robot for crawling and walking. The implementation is also extended to test the generalizability to different morphologies (the ghostdog robot). The contribution of this thesis is discussed from two angles: the investigation of the CPG architecture and the implementation (Chapter 6).

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2014. 71 p.
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1602
National Category
Computer Science
Identifiers
urn:nbn:se:liu:diva-105884 (URN)978-91-7519-313-7 (ISBN)
Public defence
2014-06-04, G110, hus G, Högskolan i Skövde, Skövde, 12:30 (English)
Opponent
Supervisors
Available from: 2014-05-22 Created: 2014-04-11 Last updated: 2014-05-22Bibliographically approved

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Li, CaiLowe, RobertZiemke, Tom

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Citation style
  • apa
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  • modern-language-association-8th-edition
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  • Other style
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Language
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  • nn-NB
  • sv-SE
  • Other locale
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Output format
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