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Reference TypeJournal Article
Author(s)Nakanishi, J.;Morimoto, J.;Endo, G.;Cheng, G.;Schaal, S.;Kawato, M.
Year2004
TitleLearning from demonstration and adaptation of biped locomotion
Journal/Conference/Book TitleRobotics and Autonomous Systems
Keywordsmovement primitives, locomotion, phase resetting, learning from demonstration
AbstractIn this paper, we introduce a framework for learning biped locomotion using dynamical movement primitives based on non-linear oscillators. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like locomotion. We suggest dynamical movement primitives as a central pattern generator (CPG) of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajectories are learned through movement primitives by locally weighted regression, and the frequency of the learned trajectories is adjusted automatically by a novel frequency adaptation algorithmbased on phase resetting and entrainment of coupled oscillators. Numerical simulations and experimental implementation on a physical robot demonstrate the effectiveness of the proposed locomotioncontroller.
Volume47
Number2-3
Pages79-91
Short TitleLearning from demonstration and adaptation of biped locomotion
URL(s) http://www-clmc.usc.edu/publications/N/nakanishi-RAS2004.pdf

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