Crawling Posture Learning in Humanoid Robots using a Natural-Actor-Critic CPG Architecture
2013 (English)In: Advances in Artificial Life, ECAL 2013, Proceedings of the Twelfth European Conference on the Synthesis and Simulation of Living Systems / [ed] Pietro Liò, Orazio Miglino, Giuseppe Nicosia, Stefano Nolfi and Mario Pavone, MIT Press, 2013, 1182-1190 p.Conference paper (Refereed)
In this article, a four-cell CPG network, exploiting sensory feedback, is proposed in order to emulate infant crawling gaits when utilized on the NAO robot. Based on the crawling model, the positive episodic natural-actor-critic architecture is applied to learn a proper posture of crawling on a simulated NAO. By transferring the learned results to the physical NAO, the transferability from simulation to physical world is discussed. Finally, a discussion pertaining to locomotion learning based on dynamic system theory is given in the conclusion.
Place, publisher, year, edition, pages
MIT Press, 2013. 1182-1190 p.
IdentifiersURN: urn:nbn:se:liu:diva-106774ISBN: 978-0-262-31719-2OAI: oai:DiVA.org:liu-106774DiVA: diva2:718770
The Twelfth European Conference on the Synthesis and Simulation of Living Systems (ECAL 2013), 2-6 September 2013, Taormina, Italy