Formative Behavior Network for a Control System in Consideration of a Biped Robot; Mot or Development
Masaru Matsuura, Mitsuo Wada · 2000
The purpose of this paper is to propose a cont,rol system ,which enables a biped robot to walk side,ways. The control system, named Formative Behavior Net,work(FBN), has a structure ,which consists of movement elements ,responding to sensory stimuli. We call each element ‘Behavior. ’ We do not armnge the number of Behaviors nor their parameters beforehand. With appropriate .re.wards for actions of the robot, the FBN is able to learn to achieve the task even if no Behavior exists at first. In the simulations, the robot implemented ,with the FBN learned to walk and showed its adaptability to a change of the robot model, such as lengthening its legs. Based on these results, an application to the experimental biped robot also succeeded in the real environment.