Generalization of the tacit learning controller based on periodic tuning functions

Vincent Berenz, Mitsuhiro Hayashibe, Fady Alnajjar, Shingo Shimoda

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Living organisms are characterized by their smooth adaptability to environmental changes and their robustness against morphological modifications. To investigate the computational mechanisms behind such learning scheme, we proposed tacit learning as a novel learning method. In tacit learning, there are no clear distinctions between learning and motor control: learning is a simple accumulation process embedded in the controller. In previous work, tacit learning was applied with success to bipedal locomotion of a 36 DoF humanoid robot. In this paper, we generalize the structure of the controller such as applying adaptive integration to a wider range of systems and behaviors. This is achieved by applying the principle of tacit learning in a hierarchical fashion, in which the value of a virtual periodic dynamic variable is tuned for continuous adaptation. This resulting PD-PI (proportional-derivative periodic-integration) controller preserves the advantages of tacit learning that the controllers do not include any prior knowledge of the system in which they are embedded. It also shares with biological systems the property that control and adaptation progress without explicit distinction between them.

本文言語English
ホスト出版物のタイトル"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
編集者Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
出版社IEEE Computer Society
ページ893-898
ページ数6
ISBN(電子版)9781479931262
DOI
出版ステータスPublished - 2014 9月 30
外部発表はい
イベント5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil
継続期間: 2014 8月 122014 8月 15

出版物シリーズ

名前Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN(印刷版)2155-1774

Other

Other5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
国/地域Brazil
CitySao Paulo
Period14/8/1214/8/15

ASJC Scopus subject areas

  • 人工知能
  • 生体医工学
  • 機械工学

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