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Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives

2003

Conference Paper

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In this paper, we report on our research for learning biped locomotion from human demonstration. 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 CPG of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajectories are learned through the movement primitives by locally weighted regression, and the frequency of the learned trajectories is adjusted automatically by a novel frequency adaptation algorithm based on phase resetting and entrainment of oscillators. Numerical simulations demonstrate the effectiveness of the proposed locomotion controller.

Author(s): Nakanishi, J. and Morimoto, J. and Endo, G. and Schaal, S. and Kawato, M.
Book Title: Workshop on Robot Learning by Demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2003)
Year: 2003

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Las Vegas, NV, Oct. 27-31
Cross Ref: p1803
Note: clmc
URL: http://www-clmc.usc.edu/publications/N/nakanishi-IROS2003.pdf

BibTex

@inproceedings{Nakanishi_WRLDIICIRS_2003,
  title = {Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives},
  author = {Nakanishi, J. and Morimoto, J. and Endo, G. and Schaal, S. and Kawato, M.},
  booktitle = {Workshop on Robot Learning by Demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2003)},
  address = {Las Vegas, NV, Oct. 27-31},
  year = {2003},
  note = {clmc},
  crossref = {p1803},
  url = {http://www-clmc.usc.edu/publications/N/nakanishi-IROS2003.pdf}
}