An efficient decentralized learning by exploiting biarticular muscles - A case study with a 2D serpentine robot

Wataru Watanabe, Takahide Sato, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This study is intended to deal with the interplay between control and mechanical systems, and to discuss the "brain-body interaction as it should be" particularly from the viewpoint of learning. To this end, we have employed a decentralized control of a two-dimensional serpentine robot consisting of several identical body segments as a practical example. The preliminary simulation results derived indicate that the convergence of decentralized learning of locomotion control can be significantly improved even with an extremely simple learning algorithm, i.e., a gradient method, by introducing biarticular muscles compared to the one only with monoarticular muscles. This strongly suggests the fact that a certain amount of computation should be offloaded from the brain into its body, which allows robots to emerge various interesting functionalities.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages3826-3831
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Watanabe, W., Sato, T., & Ishiguro, A. (2008). An efficient decentralized learning by exploiting biarticular muscles - A case study with a 2D serpentine robot. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 3826-3831). [4543798] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543798