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진화 알고리즘을 사용한 휴머노이드 로봇의 동작 학습 알고리즘
박가람(Galam Park),나성권(Syungkwon Ra),김창환(ChanHwan Kim),송재복(JaeBok Song) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.10
This paper presents a new methodology to improve movement database for a humanoid robot. The database is initially full of human motions so that the kinetics characteristics of human movement are immanent in it. then, the database is updated to the pseudo-optimal motions for the humanoid robot to perform more natural motions, which contain the kinetics characteristics of robot. for this, we use the evolutionary algorithm. the methodology consists of two processes (1) the offline imitation learning of human movement and (2) the online generation of natural motion. The offline process improve the initial human motion database using the evolutionary algorithm and inverse dynamics-based optimization. The optimization procedure generate new motions using the movement primitive database, minimizing the joint torque. This learning process produces a new database that can endow the humanoid robot with natural motions, which requires minimal torques. In online process, using the linear combination of the motion primitive in this updated database, the humanoid robot can generate the natural motions in real time. The proposed framework gives a systematic methodology for a humanoid robot to learn natural motions from human motions considering dynamics of the robot. The experiment of catching a ball thrown by a man is performed to show the feasibility of the proposed framework.
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