Paper Info
Title
Learning diverse motor patterns with a single multi-layered multi-pattern CPG for a humanoid robot
Abstract
This paper presents a Multi-Layered Multi-Pattern Central Pattern Generator (CPG) that provides humanoid robots the ability to generate motor patterns in order to perform various upper body tasks (like: reaching and writing). This CPG has two control levels: 1) one for pattern formation (coordination); and 2) another for pattern generation (selection). A unique feature of this CPG is its ability to generate oscillatory, semi-oscillatory, and non-periodic patterns locally, simply through descending control. With a simple learning method the NAO humanoid robot was able to learn how to coordinate motor patterns at different joints in writing numbers from 0 to 9. With a neural-based structure, which separate between the coordination and the selection control levels, our approach is shown to be robust during the execution even with a noisy proprioception (sensory) feedback and also with noisy coordination (pattern formation descending control) signals.
Year
DOI
Venue
2014
10.1109/HUMANOIDS.2014.7041489
Humanoid Robots
Keywords
Field
DocType
humanoid robots,learning (artificial intelligence),motion control,NAO humanoid robot,central pattern generator,descending control,diverse motor pattern learning,humanoid robot,noisy coordination signals,noisy proprioception feedback,nonperiodic patterns,oscillatory patterns,pattern formation,pattern generation,semioscillatory patterns,single multilayered multipattern CPG,upper body tasks
CpG site,Simulation,Computer science,Pattern formation,Artificial intelligence,Central pattern generator,Proprioception,Robot,Sensory system,Rhythm,Humanoid robot
Conference
ISSN
Citations 
PageRank 
2164-0572
2
0.41
References 
Authors
9
3
Name
Order
Citations
PageRank
Shoubhik Debnath130.77
John Nassour230.77
Gordon Cheng31250115.33