Title :
Entrainment-enhanced Neural Oscillator for Imitation Learning
Author :
Yang, Woosung ; Chong, Nak Young ; You, Bum Jae
Author_Institution :
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa
Abstract :
To achieve biologically inspired robot control architectures based on neural oscillator networks, goal-directed imitation is addressed with respect to the problem of motion generation. It would be desirable to easily acquire appropriate motion patterns for skill learning between dissimilar bodies to attain the goal of the demonstrated motion. This requires neural oscillator networks to adapt to the non-periodic nature of arbitrary input patterns exploiting their entrainment properties. However, even in the most widely-used Matsuoka oscillator, when an unknown quasi-periodic or non-periodic signal is applied, its output signal is not always closely entrained. Therefore, current neural oscillator models may not be applied to the proposed goal-directed imitation for skill learning. To solve this problem, a supplementary term is newly included in the equation of Matsuoka oscillator. We verify general properties of the proposed model of the neural oscillator and illustrate in particular its enhanced entrainment by numerical simulation. We also show the possibility of controlling dynamic responses of oscillator-coupled mechanical systems. Technical implications of the results are discussed
Keywords :
learning (artificial intelligence); legged locomotion; motion control; neural nets; robot dynamics; Matsuoka oscillator; biologically inspired robot control architecture; dynamic responses; entrainment-enhanced neural oscillator; goal-directed imitation; imitation learning; motion generation; numerical simulation; oscillator-coupled mechanical systems; skill learning; Biology; Biosensors; Control systems; Frequency; Intelligent robots; Mechanical systems; Nervous system; Oscillators; Robot control; Robot sensing systems; Biologically inspired control; Entrainment; Imitation learning; Neural oscillator; Self-adjusting adaptor;
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Weihai
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
DOI :
10.1109/ICIA.2006.305998