Learning Bipedal Robot Locomotion from Human Movement
Michael Taylor Sergey Bashkirov Javier Fernandez Rico Ike Toriyama Naoyuki Miyada Hideki Yanagisawa Kensaku Ishizuka Michael Taylor Sergey Bashkirov Javier Fernandez Rico Ike Toriyama Naoyuki Miyada Hideki Yanagisawa Kensaku Ishizuka
Teaching an anthropomorphic robot from human example offers the opportunity to impart humanlike qualities on its movement. In this work we present a reinforcement learning based method for teaching a real world bipedal robot to perform movements directly from human motion capture data. Our method seamlessly transitions from training in a simulation environment to executing on a physical robot with...