Efficient motor babbling using variance predictions from a recurrent neural network

Kuniyuki Takahashi, Kanata Suzuki, Tetsuya Ogata, Hadi Tjandra, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We propose an exploratory form of motor babbling that uses variance predictions from a recurrent neural network as a method to acquire the body dynamics of a robot with flexible joints. In conventional research methods, it is difficult to construct real robots because of the large number of motor babbling motions required. In motor babbling, different motions may be easy or difficult to predict. The variance is large in difficult-to-predict motions, whereas the variance is small in easy-topredict motions. We use a Stochastic Continuous Timescale Recurrent Neural Network to predict the accuracy and variance of motions. Using the proposed method, a robot can explore motions based on variance. To evaluate the proposed method, experiments were conducted in which the robot learns crank turning and door opening/closing tasks after exploring its body dynamics. The results show that the proposed method is capable of efficient motion generation for any given motion tasks.

Original languageEnglish
Title of host publicationNeural Information Processing - 22nd International Conference, ICONIP 2015, Proceedings
EditorsTingwen Huang, Qingshan Liu, Weng Kin Lai, Sabri Arik
PublisherSpringer Verlag
Pages26-33
Number of pages8
ISBN (Print)9783319265544
DOIs
Publication statusPublished - 2015
Event22nd International Conference on Neural Information Processing, ICONIP 2015 - Istanbul, Turkey
Duration: 2015 Nov 92015 Nov 12

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9491
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other22nd International Conference on Neural Information Processing, ICONIP 2015
Country/TerritoryTurkey
CityIstanbul
Period15/11/915/11/12

Keywords

  • Flexible joint robot
  • Motor babbling
  • Recurrent neural network

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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