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Neuro-fuzzy-based skill learning for robots

Published online by Cambridge University Press:  08 December 2011

Hsien-I. Lin  and
C. S. George Lee
Hsien-I. Lin*
Affiliation:
Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei, Taiwan
C. S. George Lee
Affiliation:
School of Electrical and Computer Engineering, Purdue University, West Lafayette, Indiana, USA
*
*Corresponding author. E-mail: sofin@ntut.edu.tw
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Endowing robots with the ability of skill learning enables them to be versatile and skillful in performing various tasks. This paper proposes a neuro-fuzzy-based, self-organizing skill-learning framework, which differs from previous work in its capability of decomposing a skill by self-categorizing it into significant stimulus-response units (SRU, a fundamental unit of our skill representation), and self-organizing learned skills into a new skill. The proposed neuro-fuzzy-based, self-organizing skill-learning framework can be realized by skill decomposition and skill synthesis. Skill decomposition aims at representing a skill and acquiring it by SRUs, and is implemented by stages with a five-layer neuro-fuzzy network with supervised learning, resolution control, and reinforcement learning to enable robots to identify a sufficient number of significant SRUs for accomplishing a given task without extraneous actions. Skill synthesis aims at organizing a new skill by sequentially planning learned skills composed of SRUs, and is realized by stages, which establish common SRUs between two similar skills and self-organize a new skill from these common SRUs and additional new SRUs by reinforcement learning. Computer simulations and experiments with a Pioneer 3-DX mobile robot were conducted to validate the self-organizing capability of the proposed skill-learning framework in identifying significant SRUs from task examples and in common SRUs between similar skills and learning new skills from learned skills.

Keywords

Self-organizing skill learningSkill decompositionSkill synthesisNeuro-fuzzy networkReinforcement learning

Information

Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 1013 - 1027
Copyright
Copyright © Cambridge University Press 2011

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