Simulation of Acquisition of Locomotion of an Infant Robot

Abstract— The authors proposed a simulation method to clarify the developmental process of human locomotion using a model of infant robot. The infant robot has many degrees of freedom. By making constraints and coordination of many DOF using ”intension” such as ”want to stay sitting,” or ”want to move more forward,” etc. various motion patterns emerges according to the intension. In this study, this type of intension is given as the objective function and acquisition of motion pattern is simulated as optimization or learning problem. And dynamically changing the intension according to the process of development, motion pattern of the infant robot changes and develops from sitting to crawling, toward locomotion. The process of this type of development of the infant robot is investigated by numerical simulations.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Katsuyoshi Tsujita, Tatsuya Masuda
• Keywords: Infant Robot, Infant Robot Changes, IROS 2006, Motion Pattern, Robotics