模仿学习在机器人仿生机制研究中的应用  

Application of Imitation Learning in the Research of Bionic Mechanism of Robots

作　　者：于建均[1] 门玉森 阮晓钢[1] 徐骢驰 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《北京工业大学学报》2016年第2期210-216,共7页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(61375086);高等学校博士学科点专项科研基金资助课题(20101103110007)

摘　　要：较为系统地综述了机器人模仿学习的过程,并对该领域的相关关键问题进行了探讨.基于模仿的生物机制,构建了机器人模仿学习的一个工程应用框架,以该框架为指导,重点对模仿学习的行为表述问题及研究进展进行论述;对模仿学习和强化学习在机器人运动技能学习中的应用进行了对比分析;并对该领域的研究进行了展望,可见对机器人模仿学习的研究是机器人仿生机制研究的热点内容.This paper systematically summarizes the process of robot imitation learning and discusses related key problems in this field.Based on the biological mechanism of imitation,an engineering application framework on robot imitation learning is constructed in this paper.Guided by the framework,the research on imitation learning is reviewed,especially about the behavior representation and its research progress.Contrastive analysis between imitation learning and reinforcement learning is formulated in the process of learning motor skills.The future developments of imitation learning is prospected.Hence,the study of the robot imitation learning is a hot-spot of the research on biological bionic mechanism.

关 键 词：机器人 仿生学 模仿学习 行为表述 强化学习 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]