Humanoids learning to crawl based on Natural CPG-Actor-Critic and Motor Primitives
2013 (English)In: Proceedings of IROS 2013 Workshop on Neuroscience and Robotics, Tokyo, Japan / [ed] Emre Ugur, Erhan Oztop, Jun Morimoto, Shin Ishii, 2013, 7-15 p.Conference paper (Other academic)
In this article, a new CPG-Actor-Critic architecturebased on motor primitives is proposed to perform a crawlinglearning task on a humanoid (the NAO robot). Starting froman interdisciplinary explanation of the theories, we present twoinvestigations to test the important functions of the layeredCPG architecture: sensory feedback integration and whole-bodyposture control. Based on the analysis of the experimental results,a generic view/architecture for locomotion learning is discussedand introduced in the conclusion.
Place, publisher, year, edition, pages
2013. 7-15 p.
IdentifiersURN: urn:nbn:se:liu:diva-106775OAI: oai:DiVA.org:liu-106775DiVA: diva2:718772
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, November 3-7, 2013, Tokyo Big Sight, Tokyo, Japan