From Rough to Precise: Human-Inspired Phased Target Learning Framework for Redundant Musculoskeletal Systems
文献类型:期刊论文
作者 | Zhou, Junjie1,2,3; Chen, Jiahao2,3,4; Deng, Hu1,3; Qiao, Hong1,2,5 |
刊名 | FRONTIERS IN NEUROROBOTICS |
出版日期 | 2019-07-31 |
卷号 | 13页码:14 |
ISSN号 | 1662-5218 |
关键词 | musculoskeletal system human-inspired motion learning noise in nervous system reinforcement learning phased target learning |
DOI | 10.3389/fnbot.2019.00061 |
通讯作者 | Qiao, Hong(hong.qiao@ia.ac.cn) |
英文摘要 | Redundant muscles in human-like musculoskeletal robots provide additional dimensions to the solution space. Consequently, the computation of muscle excitations remains an open question. Conventional methods like dynamic optimization and reinforcement learning usually have high computational costs or unstable learning processes when applied to a complex musculoskeletal system. Inspired by human learning, we propose a phased target learning framework that provides different targets to learners at varying levels, to guide their training process and to avoid local optima. By introducing an extra layer of neurons reflecting a preference, we improve the Q-network method to generate continuous excitations. In addition, based on information transmission in the human nervous system, two kinds of biological noise sources are introduced into our framework to enhance exploration over the solution space. Tracking experiments based on a simplified musculoskeletal arm model indicate that under guidance of phased targets, the proposed framework prevents divergence of excitations, thus stabilizing training. Moreover, the enhanced exploration of solutions results in smaller motion errors. The phased target learning framework can be expanded for general-purpose reinforcement learning, and it provides a preliminary interpretation for modeling the mechanisms of human motion learning. |
WOS关键词 | PHYSICAL LIMITS ; MUSCLE ; MODEL ; MOVEMENT ; CONTRACTION ; PREDICTION ; CRITERION ; TENDON ; NOISE |
资助项目 | National Key Research and Development Program of China[2017YFB1300200] ; National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[91648205] ; National Natural Science Foundation of China[61627808] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32000000] ; development of science and technology of Guangdong Province special fund project[2016B090910001] |
WOS研究方向 | Computer Science ; Robotics ; Neurosciences & Neurology |
语种 | 英语 |
出版者 | FRONTIERS MEDIA SA |
WOS记录号 | WOS:000478024100002 |
资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Science ; development of science and technology of Guangdong Province special fund project |
源URL | [http://ir.ia.ac.cn/handle/173211/27763] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
通讯作者 | Qiao, Hong |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 3.Beijing Key Lab Res & Applicat Robot Intelligence, Beijing, Peoples R China 4.Chinese Acad Sci, Inst Automat, Res Ctr Brain Inspired Intelligence, Beijing, Peoples R China 5.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai, Peoples R China |
推荐引用方式 GB/T 7714 | Zhou, Junjie,Chen, Jiahao,Deng, Hu,et al. From Rough to Precise: Human-Inspired Phased Target Learning Framework for Redundant Musculoskeletal Systems[J]. FRONTIERS IN NEUROROBOTICS,2019,13:14. |
APA | Zhou, Junjie,Chen, Jiahao,Deng, Hu,&Qiao, Hong.(2019).From Rough to Precise: Human-Inspired Phased Target Learning Framework for Redundant Musculoskeletal Systems.FRONTIERS IN NEUROROBOTICS,13,14. |
MLA | Zhou, Junjie,et al."From Rough to Precise: Human-Inspired Phased Target Learning Framework for Redundant Musculoskeletal Systems".FRONTIERS IN NEUROROBOTICS 13(2019):14. |
入库方式: OAI收割
来源:自动化研究所
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