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Learning leg movement patterns using neural oscillators

Published: 15 April 2010 Publication History

Abstract

This paper discusses an approach to learning in order to find the joint movement patterns of a legged robot. In particular, we concentrate on a movement exploration technique based on patterns generated by a neural oscillator. The current stage of development and project status are presented along with a philosophy and implementation plan.

References

[1]
http://www.robotbooks.com/
[2]
Ijspeert, A. J., "A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander", Biological Cybernetics 84, pp 221--348 (2001)
[3]
Maes, P., Brooks R. A., "Learning to Coordinate Behaviors", AAAI, Boston, MA, August 1990, pp. 796--802
[4]
McDowell, P, Beaubouef, T, "Maintaining Control of a Robot's Limbs Using the Bakery Algorithm", CCSC-MS 2010
[5]
McDowell, P., Petry, F., Bourgeois, B., "Robot Control in Dynamic Environments using Memory-Based Learning", Springer Verlag
[6]
Mitchell, T., "Machine Learning". McGraw-Hill, 1997, pp 367--386
[7]
Parker, G. B. "Punctuated Anytime Learning for Hexapod Gait Generation", Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, EPFL, Lausanne, Switzerland, October 2002
[8]
Tesauro, G., "Temporal Difference Learning and TD-Gammon", Communications of the ACM, Vol. 38, No. 3, March 19

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Published In

cover image ACM Conferences
ACMSE '10: Proceedings of the 48th annual ACM Southeast Conference
April 2010
488 pages
ISBN:9781450300643
DOI:10.1145/1900008
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 15 April 2010

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Author Tags

  1. learning
  2. neural oscillators
  3. robotics

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  • Research-article

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ACM SE '10
Sponsor:
ACM SE '10: ACM Southeast Regional Conference
April 15 - 17, 2010
Mississippi, Oxford

Acceptance Rates

ACMSE '10 Paper Acceptance Rate 48 of 94 submissions, 51%;
Overall Acceptance Rate 502 of 1,023 submissions, 49%

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