A study of adaptive locomotive behaviors of a biped robot: Patterns generation and classification

John Nassour, Patrick Hénaff, Fathi Ben Ouezdou, Gordon Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

Neurobiological studies showed the important role of Centeral Pattern Generators for spinal cord in the control and sensory feedback of animals' locomotion. In this paper, this role is taken into account in modeling bipedal locomotion of a robot. Indeed, as a rhythm generator, a non-classical model of a neuron that can generate oscillatory as well as diverse motor patterns is presented. This allows different motion patterns on the joints to be generated easily. Complex tasks, like walking, running, and obstacle avoidance require more than just oscillatory movements. Our model provides the ability to switch between intrinsic behaviors, to enable the robot to react against environmental changes quickly. To achieve complex tasks while handling external perturbations, a new space for joints' patterns is introduced. Patterns are generated by our learning mechanism based on success and failure with the concept of vigilance. This allows the robot to be prudent at the beginning and adventurous at the end of the learning process, inducing a more efficient exploration for new patterns. Motion patterns of the joint are classified into classes according to a metric, which reflects the kinetic energy of the limb. Due to the classification metric, high-level control for action learning is introduced. For instance, an adaptive behavior of the rhythm generator neurons in the hip and the knee joints against external perturbation are shown to demonstrate the effectiveness of the proposed learning approach.

Original languageEnglish
Title of host publicationFrom Animals to Animats 11 - 11th International Conference on Simulation of Adaptive Behavior, SAB 2010, Proceedings
Pages313-324
Number of pages12
DOIs
StatePublished - 2010
Event11th International Conference on the Simulation of Adaptive Behavior, SAB 2010 - Paris-Clos Luce, France
Duration: 25 Aug 201028 Aug 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6226 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference11th International Conference on the Simulation of Adaptive Behavior, SAB 2010
Country/TerritoryFrance
CityParis-Clos Luce
Period25/08/1028/08/10

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