Name
Title | ||
|---|---|---|
A novel approach to locomotion learning: Actor-Critic architecture using central pattern generators and dynamic motor primitives. |
Abstract | ||
|---|---|---|
In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modeling objective is split into two: baseline motion modeling and dynamics adaptation. Baseline motion modeling aims to achieve fundamental functions of a certain type of locomotion and dynamics adaptation provides a "reshaping" function for adapting the baseline motion to desired motion. Based on this assumption, a three-layer architecture is developed using central pattern generators (CPGs, a bio-inspired locomotor center for the baseline motion) and dynamic motor primitives (DMPs, a model with universal "reshaping" functions). In this article, we use this architecture with the actor-critic algorithms for finding a good "reshaping" function. In order to demonstrate the learning power of the actor-critic based architecture, we tested it on two experiments: (1) learning to crawl on a humanoid and, (2) learning to gallop on a puppy robot. Two types of actor-critic algorithms (policy search and policy gradient) are compared in order to evaluate the advantages and disadvantages of different actor-critic based learning algorithms for different morphologies. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed in the conclusion. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.3389/fnbot.2014.00023 | FRONTIERS IN NEUROROBOTICS |
Keywords | Field | DocType |
actor-critic,central pattern generators (CPG),reinforcement learning,locomotion control,NAO robot | Control theory,Architecture,Nao robot,Gait,Motor primitives,Computer science,Artificial intelligence,Robot,Central pattern generator,Machine learning,Reinforcement learning | Journal |
Volume | ISSN | Citations |
8 | 1662-5218 | 3 |
PageRank | References | Authors |
0.51 | 20 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Cai Li | 1 | 78 | 6.80 |
| Robert Lowe | 2 | 111 | 12.22 |
| Tom Ziemke | 3 | 681 | 67.03 |