An Imitation Model based on Central Pattern Generator with application in Robotic Marionette Behavior Learning

Most of the Central Pattern Generator (CPG) models are based on defining explicit dynamical systems and finding the appropriate parameters. In this paper, we propose a novel CPG model that is based on altering a nonlinear oscillator to obtain desired limit cycle behavior. This CPG model benefits from an explicit basin of attraction and also fast convergence behavior. The presented CPG model is used in an imitation model that tries to learn the proper periodical behavior by looking at a mentor. First, a mentor performs the desired periodical behavior. Then, a hand-eye coordination process, inspired from infant babbling, is initiated to extract proper motor actions from what is observed. The extracted motor actions are finally embedded into the CPG model for smooth reproduction. This imitation model is implemented on a robotic marionette behavior learning task. The outcome of the final performance of the robotic marionette is behaviorally understandable smooth actions.

Published in:
2009 Ieee-Rsj International Conference On Intelligent Robots And Systems, 4199-4205
Presented at:
IEEE RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, Oct 10-15, 2009
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa

 Record created 2012-03-12, last modified 2018-01-28

Rate this document:

Rate this document:
(Not yet reviewed)