A Framework for the Development of Robot Behavior
Abstract
Biological organisms display an astonishing capability to learn new skills and adapt to dynamic environments that far outperforms any computer or robot system. This paper presents an approach to robot skill acquisition that takes concepts from developmental theory to structure the learning problem and provides a mechanism to generate developmental schedules for a robot systems. The approach uses a developmental assembler to construct reusable and temporally extended actions in a sequence. All behavior is initially constructed from a set of innate control laws and events that delineate control decisions are derived from the pattern of (dis)equilibria on a working subset of sensorimotor policies. We show how this architecture can be used to accomplish sequential knowledge gathering and representation tasks and provide examples of developmental learning using a quadrupedal walking robot.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2005
- Accession Number
- ADA439115
Entities
People
- Manfred Huber
- Roderic A. Grupen
Organizations
- University of Massachusetts Amherst