A CONCEPT LEARNING BASED APPROACH TO MOTION CONTROL FOR HUMANOID ROBOTS

Kiyotake Kuwayama, Shohei Kato, Hidenori Itoh

Abstract

This paper proposes a concept learning-based approach to motion control for humanoid robots. In this approach, the motion control system is implemented with decision tree learner for the acquisition of balancing property of itself body and movement and depth first search technique for the motion control based on the knowledge concerning balance and stability in the motion. Some performance results by humanoid robot HOAP-1 is reported: stable and anti-tumble motions to stand up from a chair. This paper also reports some performance for the change in the environments; stand up from a chair on slope and different in height.

References

  1. Capi, G., Nasu, Y., and Barolli, L. (2002). A new gait optimization approach based on genetic algorithm for walking biped robots and a neural networks implementation. Journal of IPSJ, 43(4):1039-1049.
  2. Kuroki, Y., Ishida, T., Nagasaka, K., and Yamaguchi, J. (2002). A small biped walking entertainment robot sdr-4x with a highly integrated motion control. In Proc. of the 20-th conf. of Robotics Society of Japan, page 1C34. (in Japanese).
  3. Morimoto, J. and Doya, K. (2000). Acquisition of stand-up behavior by a real robot using hierarchical reinforcement learning. In Proc. of International Conference on Machine Learning, pages 623-630.
  4. Murase, Y., Yasukawa, Y., Sakai, K., and et al. (2001). Design of a compact humanoid robot as a platform. In Proc. of the 19-th conf. of Robotics
Download


Paper Citation


in Harvard Style

Kuwayama K., Kato S. and Itoh H. (2004). A CONCEPT LEARNING BASED APPROACH TO MOTION CONTROL FOR HUMANOID ROBOTS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 335-338. DOI: 10.5220/0001142903350338


in Bibtex Style

@conference{icinco04,
author={Kiyotake Kuwayama and Shohei Kato and Hidenori Itoh},
title={A CONCEPT LEARNING BASED APPROACH TO MOTION CONTROL FOR HUMANOID ROBOTS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={335-338},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001142903350338},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A CONCEPT LEARNING BASED APPROACH TO MOTION CONTROL FOR HUMANOID ROBOTS
SN - 972-8865-12-0
AU - Kuwayama K.
AU - Kato S.
AU - Itoh H.
PY - 2004
SP - 335
EP - 338
DO - 10.5220/0001142903350338