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Maturational constraints for motor learning in high-dimensions: the case of biped walking

Abstract : 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 inspired from human development for actively controlling the growth of complexity and harnessing the curse of dimensionality: 1) Maturational constraints for the progressive release of new degrees of freedoms and progressive increase their explorable ranges; 2) Motor synergies; 3) Morphological computation; 4) Social Guidance. An experimental setup involving a simulated version of the Acroban Humanoid robot is presented.
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https://hal.archives-ouvertes.fr/hal-00649333
Contributor : Matthieu Lapeyre Connect in order to contact the contributor
Submitted on : Wednesday, December 7, 2011 - 4:40:18 PM
Last modification on : Saturday, June 25, 2022 - 10:32:47 AM
Long-term archiving on: : Monday, December 5, 2016 - 11:27:32 AM

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  • HAL Id : hal-00649333, version 1

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Matthieu Lapeyre, Olivier Ly, Pierre-yves Oudeyer. Maturational constraints for motor learning in high-dimensions: the case of biped walking. HUMANOID 2011, Oct 2011, Bled, Slovenia. ⟨hal-00649333⟩

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