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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato 
Title:
Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives 
Abstract:
In this paper, we report on our research for learning biped locomotion from human demonstration. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like locomotion. We suggest dynamical movement primitives as a CPG of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajectories are learned through the movement primitives by locally weighted regression, and the frequency of t...    »
 
Editor:
IEEE 
Book / Congress title:
Workshop on Robot Programming by Demonstration, IEEE/RSJ International Conference on Intelligent Robots and Systems 
Date of congress:
27-31 Oct. 2003 
Publisher:
IEEE 
Date of publication:
27.10.2003 
Year:
2003