Behavior Acquisition of Gating Robot by Imitation Learning

DOI

Bibliographic Information

Other Title
  • 模倣学習を用いた二脚駆動ロボットの行動獲得

Description

Human beings are able to acquire the motion patterns efficiently by observing and imitating the demonstrator's motions. This paper presents a method, which enables the real robot assembled by LEGO Mindstorms NXT to acquire the walk movement by the imitation learning. At first, we prepare the gating robot with two driving motors. Then, we use the motion capture system in order to observe the behavior patterns of the demonstrator robot. Based on the observed time series data of the joint angles, we realize the imitation learning by using the layered neural networks. Through the experiments, we show the learner robot is able to acquire the motion patterns, which are similar to the motions of the demonstrator robot.

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Keywords

Details 詳細情報について

  • CRID
    1390282680650883840
  • NII Article ID
    130004591915
  • DOI
    10.14864/fss.27.0.305.0
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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