Humanoids learning to crawl based on Natural CPG-Actor-Critic and Motor Primitives

• 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.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Publikations- och innehållstyp

vet (ämneskategori)

kon (ämneskategori)