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• W2155307968 abstract "In this paper, we introduce a framework for learning biped locomotion using dynamical movement primitives based on non-linear oscillators. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like locomotion. We suggest dynamical movement primitives as a central pattern generator (CPG) of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajectories are learned through movement primitives by locally weighted regression, and the frequency of the learned trajectories is adjusted automatically by a novel frequency adaptation algorithm based on phase resetting and entrainment of coupled oscillators. Numerical simulations and experimental implementation on a physical robot demonstrate the effectiveness of the proposed locomotion controller." @default.
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• W2155307968 date "2004-06-01" @default.
• W2155307968 modified "2023-10-01" @default.
• W2155307968 title "Learning from demonstration and adaptation of biped locomotion" @default.
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• W2155307968 doi "https://doi.org/10.1016/j.robot.2004.03.003" @default.
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