NDLI: Dynamic Motion Learning for a Flexible-Joint Robot using Active-Passive Motor Babbling,

Please wait, while we are loading the content...

Dynamic Motion Learning for a Flexible-Joint Robot using Active-Passive Motor Babbling,

Content Provider	Semantic Scholar
Author	Takahashi, Kuniyuki Ogata, Tetsuya Sugano, Shigeki Cheng, Gordon
Copyright Year	2015
Abstract	Dynamic motion taking advantage of inertia with a flexible-joint robot is useful for energy efficiency and rapid motions. However, it is difficult to control flexible joints considering the complexity of their dynamics. To overcome the problem in past studies, oscillator [1], attractor [2], and search tree [3] methods have been explored. Attractors and oscillators force trajectories to return to the pre-designed trajectories when any deviation occurs, while the search tree finds suboptimal motion. These methods have three limitations: (1) Generate only designed motion; (2) require all robot model information; and (3) take time to search. To overcome these problems, we use recurrent neural network (RNN) and motor babbling to acquire body dynamics, forward inverse model [4]. RNNs can learn various motions and therefore, robots will be able to acquire body dynamics with motor babbling. Motor babbling is defined as the movement that infants use to acquire their own body model [5]. RNNs can also generate associative motions, which do not take time to search. In our previous research [4], a robot performed simple motions using motor babbling to acquire body dynamics with RNN. However, to generate more complex motions, it is necessary to learn specific movements. It would take a long time to learn such specific tasks with neural networks. Therefore, we propose a method where the robot learns specific tasks after the robot performs pre-training with motor babbling to acquire body dynamics. To acquire body dynamics (natural dynamics) with a flexiblejoint robot, we also target the type of motions used in motor babbling.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://mediatum.ub.tum.de/doc/1279523/666561993247.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in