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Modeling maturational constraints for learning biped humanoid locomotion

Matthieu Lapeyre1*, Olivier Ly1, 2 and Pierre-Yves Oudeyer1
  • 1 INRIA, Flowers, France
  • 2 University Bordeaux I, Labri, France

This paper outlines a new developmental approach to motor learning in very high-dimensions, applied to learning biped locomotion in humanoid robots.
This approach relies on the formal modeling and coupling of several advanced mechanisms for actively controlling the growth of complexity and harnessing the curse of
dimensionality: 1) Adaptive, multi-objective and staged fitness functions; 2) Maturational constraints for the progressive release of new degrees of freedoms; 3) Artificial curiosity;
4) Motor synergies; 5) Morphological computation. An experimental setup involving both the Acroban humanoid robot and a simulated version of the robot is presented.

Acknowledgements

This research project was partially funded by ERC Starting Grant EXPLORERS 240007.

Keywords: biped, Child, constraints, humanoid, Learning, Maturational

Conference: IEEE ICDL-EPIROB 2011, Frankfurt, Germany, 24 Aug - 27 Aug, 2011.

Presentation Type: Poster Presentation

Topic: Development principles

Citation: Lapeyre M, Ly O and Oudeyer P (2011). Modeling maturational constraints for learning biped humanoid locomotion. Front. Comput. Neurosci. Conference Abstract: IEEE ICDL-EPIROB 2011. doi: 10.3389/conf.fncom.2011.52.00031

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Received: 13 Apr 2011; Published Online: 12 Jul 2011.

* Correspondence: Mr. Matthieu Lapeyre, INRIA, Flowers, Talence, France, matthieu.lapeyre@inria.fr