Tacit learning for emergence of task-related behavior through signal accumulation

Vincent Berenz 1 Fady Alnajjar 1 Mitsuhiro Hayashibe 2 Shingo Shimoda 1
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Control of robotic joints movements requires generation of appropriate torque and force patterns, coordinating the kinematically and dynamically complex multijoints systems. Control theory coupled with inverse and forward internal models are commonly used to map a desired endpoint trajectory into suitable force patterns. In this paper, we propose the use of tacit learning to successfully achieve similar tasks without using any kinematic model of the robotic system to be controlled. Our objective is to design a new control strategy that can achieve levels of adaptability similar to those observed in living organism and be plausible from a neural control view point. If the neural mechanisms used for mapping goal expressed in the task-space into control-space related commands without using internal models remain largely unknown, many neural systems rely on data accumulation. The presented controller does not use any internal model and incorporates knowledge expressed in the task space using only accumulation of data. Tested on a simulated two links robot system, the controller showed flexibility by developing and updating its parameters through learning. This controller reduces the gap between reflexive motion based on simple accumulation of data and execution of voluntary planned actions in a simple manner that does not require complex analysis of the dynamics of the system.
Type de document :
Chapitre d'ouvrage
Emergent Trends in Robotics and Intelligent Systems. Where is the Role of Intelligent Technologies in the Next Generation of Robots?, Advances in Intelligent Systems and Computing (316), Springer, pp.31-38, 2015, Emergent Trends in Robotics and Intelligent Systems, 978-3-319-10782-0. 〈10.1007/978-3-319-10783-7_3〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00853694
Contributeur : Mitsuhiro Hayashibe <>
Soumis le : vendredi 23 août 2013 - 11:39:54
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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Vincent Berenz, Fady Alnajjar, Mitsuhiro Hayashibe, Shingo Shimoda. Tacit learning for emergence of task-related behavior through signal accumulation. Emergent Trends in Robotics and Intelligent Systems. Where is the Role of Intelligent Technologies in the Next Generation of Robots?, Advances in Intelligent Systems and Computing (316), Springer, pp.31-38, 2015, Emergent Trends in Robotics and Intelligent Systems, 978-3-319-10782-0. 〈10.1007/978-3-319-10783-7_3〉. 〈lirmm-00853694〉

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