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Skill Memory in Biped Locomotion

Using Perceptual Information to Predict Task Outcome

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Abstract

Robots must be able to adapt their motor behavior to unexpected situations in order to safely move among humans. A necessary step is to be able to predict failures, which result in behavior abnormalities and may cause irrecoverable damage to the robot and its surroundings, i.e. humans. In this paper we build a predictive model of sensor traces that enables early failure detection by means of a skill memory. Specifically, we propose an architecture based on a biped locomotion solution with improved robustness due to sensory feedback, and extend the concept of Associative Skill Memories (ASM) to periodic movements by introducing several mechanisms into the training workflow, such as linear interpolation and regression into a Dynamical Motion Primitive (DMP) system such that representation becomes time invariant and easily parameterizable. The failure detection mechanism applies statistical tests to determine the optimal operating conditions. Both training and failure testing were conducted on a DARwIn-OP inside a simulation environment to assess and validate the failure detection system proposed. Results show that the system performance in terms of the compromise between sensitivity and specificity is similar with and without the proposed mechanism, while achieving a significant data size reduction due to the periodic approach taken.

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Authors and Affiliations

  1. Department of Industrial Electronics, University of Minho, Braga, Portugal

    João André & Cristina Santos

  2. Department of Production and System, University of Minho, Braga, Portugal

    Lino Costa

Authors
  1. João André
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  2. Cristina Santos
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  3. Lino Costa
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Corresponding author

Correspondence to João André.

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André, J., Santos, C. & Costa, L. Skill Memory in Biped Locomotion. J Intell Robot Syst 82, 379–397 (2016). https://doi.org/10.1007/s10846-015-0197-z

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  • DOI: https://doi.org/10.1007/s10846-015-0197-z

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