Learning Bipedal Walking Through Morphological Development

• M. Naya-Varela ^[1] ; A. Faina ^[2] ; R.J. Duro ^[1]
  1. [1] Universidade da Coruña

     Universidade da Coruña

     A Coruña, España

     
  2. [2] IT University of Copenhagen

     IT University of Copenhagen

     Dinamarca

     
• Localización: Hybrid Artificial Intelligent Systems: 16th International Conference, HAIS 2021. Bilbao, Spain. September 22–24, 2021. Proceedings / coord. por Hugo Sanjurjo González, Iker Pastor López , Pablo García Bringas , Héctor Quintián Pardo , Emilio Santiago Corchado Rodríguez , 2021, ISBN 978-3-030-86271-8, págs. 184-195
• Idioma: inglés
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• Resumen

  • Morphological development has shown its efficiency in improving learning and adaptation to the environment in natural organisms from infancy to adulthood. In the case of robot learning, this is not so clear. The results of a series of experiments that have been carried out in previouswork have allowed us to extract, from an analytical perspective, some notions about how and under what conditions morphological development may influence learning. In this paper, we want to adopt an engineering or synthesis perspective and testwhether these notions can be used to construct a successful morphological development strategy for a difficult task: learning bipedal locomotion. In particular, we have addressed learning to walk in a 14 degrees of freedom NAO type robot and have designed a morphological development strategy to this end. The results obtained have allowed us to validate the relevance of the assumptions made for the design and implementation of a morphological development strategy.