scholarly journals Learning the Cost Function for Foothold Selection in a Quadruped Robot

Sensors ◽  
2019 ◽  
Vol 19 (6) ◽  
pp. 1292 ◽  
Author(s):  
Xingdong Li ◽  
Hewei Gao ◽  
Fusheng Zha ◽  
Jian Li ◽  
Yangwei Wang ◽  
...  

This paper is focused on designing a cost function of selecting a foothold for a physical quadruped robot walking on rough terrain. The quadruped robot is modeled with Denavit–Hartenberg (DH) parameters, and then a default foothold is defined based on the model. Time of Flight (TOF) camera is used to perceive terrain information and construct a 2.5D elevation map, on which the terrain features are detected. The cost function is defined as the weighted sum of several elements including terrain features and some features on the relative pose between the default foothold and other candidates. It is nearly impossible to hand-code the weight vector of the function, so the weights are learned using Supporting Vector Machine (SVM) techniques, and the training data set is generated from the 2.5D elevation map of a real terrain under the guidance of experts. Four candidate footholds around the default foothold are randomly sampled, and the expert gives the order of such four candidates by rotating and scaling the view for seeing clearly. Lastly, the learned cost function is used to select a suitable foothold and drive the quadruped robot to walk autonomously across the rough terrain with wooden steps. Comparing to the approach with the original standard static gait, the proposed cost function shows better performance.

2019 ◽  
Vol 2019 ◽  
pp. 1-12 ◽  
Author(s):  
Xingdong Li ◽  
Hewei Gao ◽  
Jian Li ◽  
Yangwei Wang ◽  
Yanling Guo

Quadruped robot has great potential to walk on rough terrain, in which static gait is preferred. A hierarchical structure based controlling algorithm is proposed in this paper, in which trajectory of robot center is searched, and then static gaits are generated along such trajectory. Firstly, cost map is constructed by computing terrain features under robot body and cost of selecting footholds at default positions, and then the trajectory of robot center in 2D space is searched using heuristic A⁎ algorithm. Secondly, robot state is defined from foothold and robot pose, and then state series are searched recursively along the trajectory of robot center to generate static gaits, where a tree-like structure is used to store such states. Lastly, a classical model for quadruped robot is designed, and then the controlling algorithm proposed in the paper is demonstrated on such robot model for both structured terrain and complex unstructured terrain in a simulation environment.


1995 ◽  
Vol 7 (5) ◽  
pp. 974-981 ◽  
Author(s):  
Todd K. Leen

Ideally pattern recognition machines provide constant output when the inputs are transformed under a group G of desired invariances. These invariances can be achieved by enhancing the training data to include examples of inputs transformed by elements of G, while leaving the corresponding targets unchanged. Alternatively the cost function for training can include a regularization term that penalizes changes in the output when the input is transformed under the group. This paper relates the two approaches, showing precisely the sense in which the regularized cost function approximates the result of adding transformed examples to the training data. We introduce the notion of a probability distribution over the group transformations, and use this to rewrite the cost function for the enhanced training data. Under certain conditions, the new cost function is equivalent to the sum of the original cost function plus a regularizer. For unbiased models, the regularizer reduces to the intuitively obvious choice—a term that penalizes changes in the output when the inputs are transformed under the group. For infinitesimal transformations, the coefficient of the regularization term reduces to the variance of the distortions introduced into the training data. This correspondence provides a simple bridge between the two approaches.


2001 ◽  
Vol 13 (7) ◽  
pp. 1443-1471 ◽  
Author(s):  
Bernhard Schölkopf ◽  
John C. Platt ◽  
John Shawe-Taylor ◽  
Alex J. Smola ◽  
Robert C. Williamson

Suppose you are given some data set drawn from an underlying probability distribution P and you want to estimate a “simple” subset S of input space such that the probability that a test point drawn from P lies outside of S equals some a priori specified value between 0 and 1. We propose a method to approach this problem by trying to estimate a function f that is positive on S and negative on the complement. The functional form of f is given by a kernel expansion in terms of a potentially small subset of the training data; it is regularized by controlling the length of the weight vector in an associated feature space. The expansion coefficients are found by solving a quadratic programming problem, which we do by carrying out sequential optimization over pairs of input patterns. We also provide a theoretical analysis of the statistical performance of our algorithm. The algorithm is a natural extension of the support vector algorithm to the case of unlabeled data.


Geophysics ◽  
1999 ◽  
Vol 64 (1) ◽  
pp. 33-47 ◽  
Author(s):  
Zhiyi Zhang ◽  
Douglas W. Oldenburg

In this paper, we develop an inversion algorithm to simultaneously recover 1-D distributions of electric conductivity and magnetic susceptibility from a single data set. The earth is modeled as a series of homogeneous layers of known thickness with constant but unknown conductivities and susceptibilities. The medium of interest is illuminated by a horizontal circular loop source located above the surface of the earth. The secondary signals from the earth are received by a circular loop receiver located some distance from the source. The model objective function in the inversion, which we refer to as the cost function, is a weighted sum of model objective functions of conductivity and susceptibility. We minimize this cost function subject to the data constraints and show how the choice of weights for the model objective functions of conductivity and susceptibility affects the results of the inversion through 1-D synthetic examples. We also invert 3-D synthetic and field data. From these examples we conclude that simultaneous inversion of electromagnetic (EM) data can provide useful information about the conductivity and susceptibility distributions.


2000 ◽  
Vol 12 (8) ◽  
pp. 1869-1887 ◽  
Author(s):  
Holger Schwenk ◽  
Yoshua Bengio

Boosting is a general method for improving the performance of learning algorithms. A recently proposed boosting algorithm, Ada Boost, has been applied with great success to several benchmark machine learning problems using mainly decision trees as base classifiers. In this article we investigate whether Ada Boost also works as well with neural networks, and we discuss the advantages and drawbacks of different versions of the Ada Boost algorithm. In particular, we compare training methods based on sampling the training set and weighting the cost function. The results suggest that random resampling of the training data is not the main explanation of the success of the improvements brought by Ada Boost. This is in contrast to bagging, which directly aims at reducing variance and for which random resampling is essential to obtain the reduction in generalization error. Our system achieves about 1.4% error on a data set of on-line handwritten digits from more than 200 writers. A boosted multilayer network achieved 1.5% error on the UCI letters and 8.1% error on the UCI satellite data set, which is significantly better than boosted decision trees.


2019 ◽  
Vol 220 (1) ◽  
pp. 308-322 ◽  
Author(s):  
Barbara Romanowicz ◽  
Li-Wei Chen ◽  
Scott W French

SUMMARY Accurate synthetic seismic wavefields can now be computed in 3-D earth models using the spectral element method (SEM), which helps improve resolution in full waveform global tomography. However, computational costs are still a challenge. These costs can be reduced by implementing a source stacking method, in which multiple earthquake sources are simultaneously triggered in only one teleseismic SEM simulation. One drawback of this approach is the perceived loss of resolution at depth, in particular because high-amplitude fundamental mode surface waves dominate the summed waveforms, without the possibility of windowing and weighting as in conventional waveform tomography. This can be addressed by redefining the cost-function and computing the cross-correlation wavefield between pairs of stations before each inversion iteration. While the Green’s function between the two stations is not reconstructed as well as in the case of ambient noise tomography, where sources are distributed more uniformly around the globe, this is not a drawback, since the same processing is applied to the 3-D synthetics and to the data, and the source parameters are known to a good approximation. By doing so, we can separate time windows with large energy arrivals corresponding to fundamental mode surface waves. This opens the possibility of designing a weighting scheme to bring out the contribution of overtones and body waves. It also makes it possible to balance the contributions of frequently sampled paths versus rarely sampled ones, as in more conventional tomography. Here we present the results of proof of concept testing of such an approach for a synthetic 3-component long period waveform data set (periods longer than 60 s), computed for 273 globally distributed events in a simple toy 3-D radially anisotropic upper mantle model which contains shear wave anomalies at different scales. We compare the results of inversion of 10 000 s long stacked time-series, starting from a 1-D model, using source stacked waveforms and station-pair cross-correlations of these stacked waveforms in the definition of the cost function. We compute the gradient and the Hessian using normal mode perturbation theory, which avoids the problem of cross-talk encountered when forming the gradient using an adjoint approach. We perform inversions with and without realistic noise added and show that the model can be recovered equally well using one or the other cost function. The proposed approach is computationally very efficient. While application to more realistic synthetic data sets is beyond the scope of this paper, as well as to real data, since that requires additional steps to account for such issues as missing data, we illustrate how this methodology can help inform first order questions such as model resolution in the presence of noise, and trade-offs between different physical parameters (anisotropy, attenuation, crustal structure, etc.) that would be computationally very costly to address adequately, when using conventional full waveform tomography based on single-event wavefield computations.


2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yen-Liang Chen ◽  
Li-Chen Cheng ◽  
Yi-Jun Zhang

Purpose A necessary preprocessing of document classification is to label some documents so that a classifier can be built based on which the remaining documents can be classified. Because each document differs in length and complexity, the cost of labeling each document is different. The purpose of this paper is to consider how to select a subset of documents for labeling with a limited budget so that the total cost of the spending does not exceed the budget limit, while at the same time building a classifier with the best classification results. Design/methodology/approach In this paper, a framework is proposed to select the instances for labeling that integrate two clustering algorithms and two centroid selection methods. From the selected and labeled instances, five different classifiers were constructed with good classification accuracy to prove the superiority of the selected instances. Findings Experimental results show that this method can establish a training data set containing the most suitable data under the premise of considering the cost constraints. The data set considers both “data representativeness” and “data selection cost,” so that the training data labeled by experts can effectively establish a classifier with high accuracy. Originality/value No previous research has considered how to establish a training set with a cost limit when each document has a distinct labeling cost. This paper is the first attempt to resolve this issue.


2021 ◽  
Vol 1 ◽  
pp. 1183-1192
Author(s):  
Sebastian Bickel ◽  
Benjamin Schleich ◽  
Sandro Wartzack

AbstractData-driven methods from the field of Artificial Intelligence or Machine Learning are increasingly applied in mechanical engineering. This refers to the development of digital engineering in recent years, which aims to bring these methods into practice in order to realize cost and time savings. However, a necessary step towards the implementation of such methods is the utilization of existing data. This problem is essential because the mere availability of data does not automatically imply data usability. Therefore, this paper presents a method to automatically recognize symbols from principle sketches, which allows the generation of training data for machine learning algorithms. In this approach, the symbols are created randomly and their illustration varies with each generation. . A deep learning network from the field of computer vision is used to test the generated data set and thus to recognize symbols on principle sketches. This type of drawing is especially interesting because the cost-saving potential is very high due to the application in the early phases of the product development process.


2019 ◽  
Vol 12 (2) ◽  
pp. 120-127 ◽  
Author(s):  
Wael Farag

Background: In this paper, a Convolutional Neural Network (CNN) to learn safe driving behavior and smooth steering manoeuvring, is proposed as an empowerment of autonomous driving technologies. The training data is collected from a front-facing camera and the steering commands issued by an experienced driver driving in traffic as well as urban roads. Methods: This data is then used to train the proposed CNN to facilitate what it is called “Behavioral Cloning”. The proposed Behavior Cloning CNN is named as “BCNet”, and its deep seventeen-layer architecture has been selected after extensive trials. The BCNet got trained using Adam’s optimization algorithm as a variant of the Stochastic Gradient Descent (SGD) technique. Results: The paper goes through the development and training process in details and shows the image processing pipeline harnessed in the development. Conclusion: The proposed approach proved successful in cloning the driving behavior embedded in the training data set after extensive simulations.


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