Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning

doi:10.3389/frobt.2021.702599

	Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning
	Zhu, Jiahui1 ; Rong, Chunyan1 ; Iida, Fumiya 2; Rosendo, Andre1
	2021-09-08
发表期刊	FRONTIERS IN ROBOTICS AND AI
ISSN	2296-9144
卷号	8
DOI	10.3389/frobt.2021.702599
摘要	We reach walking optimality from a very early age by using natural supports, which can be the hands of our parents, chairs, and training wheels, and bootstrap a new knowledge from the recently acquired one. The idea behind bootstrapping is to use the previously acquired knowledge from simpler tasks to accelerate the learning of more complicated ones. In this paper, we propose a scaffolded learning method from an evolutionary perspective, where a biped creature achieves stable and independent bipedal walking while exploiting the natural scaffold of its changing morphology to create a third limb. The novelty of this work is speeding up the learning process with an artificially recreated scaffolded learning. We compare three conditions of scaffolded learning (free, time-constrained, and performance-based scaffolded learning) to reach bipedalism, and we prove that a performance-based scaffold, which is designed by the walking velocity obtained, is the most conducive to bootstrap the learning of bipedal walking. The scope of this work is not to study bipedal locomotion but to investigate the contribution from scaffolded learning to a faster learning process. Beyond a pedagogical experiment, this work presents a powerful tool to accelerate the learning of complex tasks in the Robotics field.
关键词	robotics scaffolded learning bootstrapping bio-inspired learning bio-inspired robotics bipedal locomotion
URL	查看原文
收录类别	ESCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000698605800001
出版者	FRONTIERS MEDIA SA
原始文献类型	Article
引用统计
文献类型	期刊论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/128252
专题	信息科学与技术学院_硕士生信息科学与技术学院_PI研究组_ANDRE LUIS MACEDO ROSENDO SILVA组
通讯作者	Zhu, Jiahui
作者单位	1.ShanghaiTech Univ, Sch Informat Sci & Technol, Living Machines Lab, Shanghai, Peoples R China; 2.Univ Cambridge, Dept Engn, Bioinspired Robot Lab, Cambridge, England
第一作者单位	信息科学与技术学院
通讯作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Zhu, Jiahui,Rong, Chunyan,Iida, Fumiya,et al. Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning[J]. FRONTIERS IN ROBOTICS AND AI,2021,8.
APA	Zhu, Jiahui,Rong, Chunyan,Iida, Fumiya,&Rosendo, Andre.(2021).Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning.FRONTIERS IN ROBOTICS AND AI,8.
MLA	Zhu, Jiahui,et al."Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning".FRONTIERS IN ROBOTICS AND AI 8(2021).