A Study on Walk Movement Acquisition by Imitation Learning

Abstract

Human beings are able to acquire the motion patterns efficiently by observing and imitating the demonstrator's motions. This paper presents a method, which enables the real robot assembled by LEGO Mindstorms NXT to acquire the walk movement by the imitation learning. At first, we prepare two real robots, each of which is shaped like a measuring worm. Then, we use the motion capture system in order to observe the motion patterns of the demonstrator robot. Based on the observed time series data of the joint angles, we realize the imitation learning by using neural networks. Through the experiments, we show the learner robot is able to acquire the motion patterns, which are similar to the motions of the demonstrator robot.