Continuous Goal-Directed Actions (CGDA)

cgda

Description

The search for the Grial of generalizing robot actions continues! In Continuous Goal-Directed Actions (CGDA), our robot imitation framework, an action is modelled as the changes it produces on the environment. First, record all the features you can off some user demonstrations. By features, we mean features! The robot joint q2 angle, a human hand Z coordinate, the percentage of a wall painted, the square of the room temperature plus ambient noise… Throw in a demonstration and feature selection algorithm, let it decide which demonstrations were consistent, and which features are relevant. You now have an action encoded as a CGDA model, which is essentially a multi-dimensional time series. As described in its first conference paper, recognition can be performed using costs such as those extracted by DTW, and execution can be achieved by evolutionary algorithms in a simulated environment. While we have performed some work in combining sequences of random movements, we are mostly content with the evolutionary strategies we later developed, such as IET. Additional references include the original S. Morante PhD thesis.

Entries:
The Rh-1 full-size humanoid robot: design, walking pattern generation and control
Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3 , vol. 6 , pages: 301 – 344 , 2009
M. Arbulu D. Kaynov L.M. Cabas

Entries:
Joint Control of a Humanoid Robot
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2007), Pittsburgh, USA
D. Kaynov
Industrial automation based approach to design control system of the humanoid robot
IEEE International Symposium on Industrial Electronics ISIE 2007, Vigo, Spain
D. Kaynov
Advanced motion control system for the humanoid robot Rh-0
8th International Conference on Climbing and Walking Robots (Clawar 2005), London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov
ZMP Human Measure System
8th International Conference on Climbing and Walking Robots (Clawar'2005), London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov

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Robots

Robot types & applications