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

Matthieu Lapeyre 1 Olivier Ly 1, 2 Pierre-Yves Oudeyer 1
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
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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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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