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IJCAI
2001

Robot Weightlifting By Direct Policy Search

11 years 3 months ago
Robot Weightlifting By Direct Policy Search
This paper describes a method for structuring a robot motor learning task. By designing a suitably parameterized policy, we show that a simple search algorithm, along with biologically motivated constraints, offers an effective means for motor skill acquisition. The framework makes use of the robot counterparts to several elements found in human motor learning: imitation, equilibrium-point control, motor programs, and synergies. We demonstrate that through learning, coordinated behavior emerges from initial, crude knowledge about a difficult robot weightlifting task.
Michael T. Rosenstein, Andrew G. Barto
Added 31 Oct 2010
Updated 31 Oct 2010
Type Conference
Year 2001
Where IJCAI
Authors Michael T. Rosenstein, Andrew G. Barto
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