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Learning Control

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Humanoid Robotics: A Reference

Abstract

This chapter presents an overview of learning approaches for the acquisition of controllers and movement skills in humanoid robots. The term learning control refers to the process of acquiring a control strategy to achieve a task. While the definition is in some cases restrained to trial-and-error learning, we present here learning control in a broader perspective, with a focus on the representation of skills to be acquired, and on the different learning strategies that can contribute to the acquisition of robust and adaptive controllers for humanoids.

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Authors and Affiliations

  1. Idiap Research Institute, Martigny, Switzerland

    Sylvain Calinon

  2. Department of Electrical and Computer Engineering, Technical University of Munich, München, Germany

    Dongheui Lee

  3. Institute of Robotics and Mechatronics, German Aerospace Center, Weβling, Germany

    Dongheui Lee

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  1. Sylvain Calinon
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  2. Dongheui Lee
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Correspondence to Sylvain Calinon .

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  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

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Calinon, S., Lee, D. (2019). Learning Control. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_68

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