ShanghaiTech University Knowledge Management System
| Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning | |
| 2021-09-08 | |
| Source Publication | FRONTIERS IN ROBOTICS AND AI
 |
| ISSN | 2296-9144 |
| Volume | 8 |
| DOI | 10.3389/frobt.2021.702599 |
| Abstract | 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. |
| Keyword | robotics scaffolded learning bootstrapping bio-inspired learning bio-inspired robotics bipedal locomotion |
| URL | 查看原文 |
| Indexed By | ESCI |
| Language | 英语 |
| WOS Research Area | Robotics |
| WOS Subject | Robotics |
| WOS ID | WOS:000698605800001 |
| Publisher | FRONTIERS MEDIA SA |
| Original Document Type | Article |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/128252 |
| Collection | 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 |
| Corresponding Author | Zhu, Jiahui |
| Affiliation | 1.ShanghaiTech Univ, Sch Informat Sci & Technol, Living Machines Lab, Shanghai, Peoples R China; 2.Univ Cambridge, Dept Engn, Bioinspired Robot Lab, Cambridge, England |
| First Author Affilication | School of Information Science and Technology |
| Corresponding Author Affilication | School of Information Science and Technology |
| First Signature Affilication | School of Information Science and Technology |
| Recommended Citation 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). |
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