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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9515

Title: Imitation Learning of Humanoid Locomotion Using the Direction of the Landing Foot
Authors: Yang, Woosung
Chong, Nak Young
Keywords: Humanoid robot
Biped locomotion
Imitation learning
Self-adjusting adaptor
Issue Date: 2009-07-31
Publisher: Springer
Magazine name: International Journal of Control, Automation, and Systems
Volume: 7
Number: 4
Start page: 585
End page: 597
DOI: 10.1007/s12555-009-0410-6
Abstract: Since it is quite difficult to create motions for humanoid robots having fairly large numbers of degrees of freedom, it would be very convenient indeed if robots could observe and imitate what they want to create. Toward this end, this paper discusses how humanoid robots learn through imitation considering that demonstrator and imitator robots may have different kinematics and dynamics. As part of a wider interest in humanoid motion generation in general, this work mainly investigates how imitator robots adapt a reference locomotion gait captured from a demonstrator robot. Specifically, the self-adjusting adaptor is proposed, where the perceived locomotion pattern is modified to keep the direction of lower leg contacting the ground identical between the demonstrator and the imitator, and to sustain the dynamic stability by controlling the position of the center of mass. The validity of the proposed scheme is verified through simulations on OpenHRP and real experiments.
Rights: This is the author-created version of Springer, Woosung Yang, Nak Young Chong, International Journal of Control, Automation, and Systems, 7(4), 2009, 585-597. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s12555-009-0410-6
URI: http://hdl.handle.net/10119/9515
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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