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Crawling Posture Le...
Crawling Posture Learning in Humanoid Robots using a Natural-Actor-Critic CPG Architecture
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- Li, Cai (författare)
- Interaction Lab, University of Skövde, Sweden
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- Lowe, Robert (författare)
- Interaction Lab, University of Skövde, Sweden
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- Ziemke, Tom (författare)
- Interaction Lab, University of Skövde, Sweden
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(creator_code:org_t)
- MIT Press, 2013
- 2013
- Engelska.
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Ingår i: Advances in Artificial Life, ECAL 2013, Proceedings of the Twelfth European Conference on the Synthesis and Simulation of Living Systems. - : MIT Press. ; , s. 1182-1190
- Relaterad länk:
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https://urn.kb.se/re...
Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)