Rapid and cheap learning by exploiting biarticular muscles - A case study with a two-dimensional serpentine robot

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

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 which induce long-distant physical interaction between the body segments 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 with interesting functionalities.

Original languageEnglish
Pages (from-to)1683-1696
Number of pages14
JournalAdvanced Robotics
Volume22
Issue number15
DOIs
Publication statusPublished - 2008 Oct 1

Keywords

  • Biarticular muscles
  • Learning
  • Long-distant physical interaction between body segments
  • Morphological computation
  • Two-dimensional serpentine robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Rapid and cheap learning by exploiting biarticular muscles - A case study with a two-dimensional serpentine robot'. Together they form a unique fingerprint.

Cite this