Contextual Policy Search for Generalizing a Parameterized Biped Walking Controller

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Abdolmaleki, A (Autor) Outra; lau, n (Autor) FCUP; reis, lp (Autor) REIT; Peters, J (Autor) Outra; Neumann, G (Autor) Outra

Ata de Conferência Internacional

Título: 2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Páginas: 17-22

9th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Vila Real, PORTUGAL, APR 08-10, 2015

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 9 Citações

Outras Informações

ID Authenticus: P-00G-CTW

DOI: 10.1109/icarsc.2015.43

Abstract (EN): We investigate learning of flexible Robot locomotion controller, i.e., the controllers should be applicable for multiple contexts, for example different walking speeds, various slopes of the terrain or other physical properties of the robot. In our experiments, contexts are desired walking linear speed and the direction of the gait. Current approaches for learning control parameters of biped locomotion controllers are typically only applicable for a single context. They can be used for a particular context, for example to learn a gait with highest speed, lowest energy consumption or a combination of both. The question of our research is, how can we obtain a flexible walking controller that controls the robot (near) optimally for many different contexts? We achieve the desired flexibility of the controller by applying the recently developed contextual relative entropy policy search(REPS) method. With such a contextual policy search algorithm, we can generalize the robot walking controller for different contexts, where a context is described by a real valued vector. In this paper we also extend the contextual REPS algorithm to learn a non-linear policy instead of a linear one over the contexts. In order to validate our method, we perform a simulation experiment using a simulated NAO humanoid robot. The robot now learns a policy to choose the controller parameters for a continuous set of walking speeds and directions.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6