A CONCEPT LEARNING BASED APPROACH TO MOTION CONTROL FOR HUMANOID ROBOTS

Kiyotake Kuwayama; Shohei Kato; Hidenori Itoh

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Paper

A CONCEPT LEARNING BASED APPROACH TO MOTION CONTROL FOR HUMANOID ROBOTS

Topics: Human-Robots Interfaces; Machine Learning in Control Applications; Robot Design, Development and Control

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 335-338, 2004 , Setúbal, Portugal

Authors: Kiyotake Kuwayama ; Shohei Kato and Hidenori Itoh

Affiliation: Nagoya Institute of Technology, Japan

Keyword(s): Humanoid robot, learning-based motion control, concept learning.

Related Ontology Subjects/Areas/Topics: Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 335-338. DOI: 10.5220/0001142903350338

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Kuwayama, K.
AU - Kato, S.
AU - Itoh, H.
PY - 2004
SP - 335
EP - 338
DO - 10.5220/0001142903350338
PB - SciTePress