Task-oriented developmental learning for humanoid robots

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

13 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)906-914
Journal / PublicationIEEE Transactions on Industrial Electronics
Volume52
Issue number3
Publication statusPublished - Jun 2005
Externally publishedYes

Abstract

This paper presents a new approach of task-oriented developmental learning for humanoid robots. It is capable of setting up multiple tasks representation automatically using real-time experiences, thereby enabling a robot to handle various tasks concurrently without the need of predefining the tasks. In the approach, an evolvable partitioned tree structure is used for task representation knowledgebase that is partitioned into different task domains. The search/update of task knowledge is focused on a particular task branch, without considering the whole task knowledgebase that is often large and time consuming in the process. A prototype of the proposed task-oriented developmental learning is designed and implemented using a Khepera robot. Experimental results show that the robot can redirect itself to new tasks through interactions with the environment, and a learned task can be easily updated in order to meet varying specifications in the real world.

Research Area(s)

  • Humanoid robots, Learning systems, Task representation

Citation Format(s)

Task-oriented developmental learning for humanoid robots. / Tan, K. C.; Chen, Y. J.; Tan, K. K.; Lee, T. H.

In: IEEE Transactions on Industrial Electronics, Vol. 52, No. 3, 06.2005, p. 906-914.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review