Abstract
Event Abstract Back to Event Modeling maturational constraints for learning biped humanoid locomotion Matthieu Lapeyre1*, Olivier Ly1, 2 and Pierre-Yves Oudeyer1 1 INRIA, Flowers, France 2 University Bordeaux I, Labri, France This paper outlines a new developmental approach to motor learning in very high-dimensions, applied to learning biped locomotion in humanoid robots. This approach relies on the formal modeling and coupling of several advanced mechanisms for actively controlling the growth of complexity and harnessing the curse of dimensionality: 1) Adaptive, multi-objective and staged fitness functions; 2) Maturational constraints for the progressive release of new degrees of freedoms; 3) Artificial curiosity; 4) Motor synergies; 5) Morphological computation. An experimental setup involving both the Acroban humanoid robot and a simulated version of the robot is presented. Acknowledgements This research project was partially funded by ERC Starting Grant EXPLORERS 240007. Keywords: biped, Child, constraints, humanoid, Learning, Maturational Conference: IEEE ICDL-EPIROB 2011, Frankfurt, Germany, 24 Aug - 27 Aug, 2011. Presentation Type: Poster Presentation Topic: Development principles Citation: Lapeyre M, Ly O and Oudeyer P (2011). Modeling maturational constraints for learning biped humanoid locomotion. Front. Comput. Neurosci. Conference Abstract: IEEE ICDL-EPIROB 2011. doi: 10.3389/conf.fncom.2011.52.00031 Copyright: The abstracts in this collection have not been subject to any Frontiers peer review or checks, and are not endorsed by Frontiers. They are made available through the Frontiers publishing platform as a service to conference organizers and presenters. The copyright in the individual abstracts is owned by the author of each abstract or his/her employer unless otherwise stated. Each abstract, as well as the collection of abstracts, are published under a Creative Commons CC-BY 4.0 (attribution) licence (https://creativecommons.org/licenses/by/4.0/) and may thus be reproduced, translated, adapted and be the subject of derivative works provided the authors and Frontiers are attributed. For Frontiers’ terms and conditions please see https://www.frontiersin.org/legal/terms-and-conditions. Received: 13 Apr 2011; Published Online: 12 Jul 2011. * Correspondence: Mr. Matthieu Lapeyre, INRIA, Flowers, Talence, France, matthieu.lapeyre@inria.fr Login Required This action requires you to be registered with Frontiers and logged in. To register or login click here. Abstract Info Abstract Supplemental Data The Authors in Frontiers Matthieu Lapeyre Olivier Ly Pierre-Yves Oudeyer Google Matthieu Lapeyre Olivier Ly Pierre-Yves Oudeyer Google Scholar Matthieu Lapeyre Olivier Ly Pierre-Yves Oudeyer PubMed Matthieu Lapeyre Olivier Ly Pierre-Yves Oudeyer Related Article in Frontiers Google Scholar PubMed Abstract Close Back to top Javascript is disabled. Please enable Javascript in your browser settings in order to see all the content on this page.
Highlights
Fundamental in humans, bipedal walking in robots poses a real challenge to Robotics
The body and brain of human has evolved over two million years before allowing him to have a bipedal walking as easy and efficient than it is today
Most humanoids solve the existing problems of bipedal walking using dynamic control based on the calculation of the ZMP, let us mention the famous examples Hondas Asimo or HRP-4 but they are generally heavy and powerful robots, which are quite dangerous for the user, sensitive to soil type and who are not really robust to external disturbances
Summary
The body and brain of human has evolved over two million years before allowing him to have a bipedal walking as easy and efficient than it is today It appears that this unique ability in mammals is very difficult to reproduce especially among robots that have no bio-organic materials. Smaller, use an open loop primitive motor tuned by engineer consisting of a succession of positions taken by the legs of the robot (NAO, the Qrio ...). These primitives are very efficient but not really robust, if soil type is different from that provided for the walk is very unsafe. This paper propose an alternative way to model the learning to walk in the case of humanoid robots with many DOF using developmental constraints
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