Motion Learning and Generalization of Musculoskeletal Robot Using Gain Primitives

Organisms have an innate ability to rapidly produce diverse and flexible movement. Biological motor systems are composed of highly redundant muscle actuators and have strongly nonlinear dynamic characteristics. How organisms cope with such complex system is still an open question. Motor primitive theory proposed by neuroscientists has provided a convincing explanation for this extraordinary ability and have supported by several biological evidence. In this paper, based on the gain primitive model of cortical network proposed by neuroscientists, new algorithms for learning and combining gain primitives were designed to control musculoskeletal and robotic system with highly redundant actuators. It can realize dimensionality reduction of controll from the number of actuators to the number of primitives. A parameter adaptation algorithm inspired by monoamines modulation mechanism was applied to improve the learning efficiency of gain primitive. Learned motion experiences and primitives were introduced to effectively generate new movements. Validation experiments were carried out on a musculoskeletal model with 9 muscles and an articulated robot Baxter with redundant actuators. The experimental results demonstrated that the recurrent neural network modulated by gain primitives can generate high-dimensional control signals and realize efficient motion generalization for practical systems. Note to Practitioners-This paper applied a biologically plausible control method with gain primitive to practical systems with highly redundant actuators. To reduce the cumulative error occurring in learning gain primitive for control networks with high dimensional output, a bioinspired Hebbian learning rule was applied to train a recurrent neural network for optimizing the gain primitive. During the training process, systematic entropy was introduced as an index to adaptively adjust learning parameters, so as to reduce the exploration cost and improve the learning stability of the system. To realize easy implementation and generalization, prior motion experiences were introduced into the initialization of the optimization algorithm, and motion generalization was realized by using the particle swarm optimization algorithm. The algorithms designed in this paper are applicable to complex systems with highly redundant actuators such as humanoid robots.