One-Shot Bipedal Robot Dynamics Identification With a Reservoir-Based RNN

Keyphrases

• Recurrent Neural Network 100%
• Bipedal Robot 100%
• Robot Identification 100%
• Mean Squared Error 80%
• Autoregressive Exogenous Model 60%
• Neural Network 40%
• Adaptive Algorithm 40%
• Parameter Adaptation 40%
• Recurrent Neural Network Model 40%
• Number of Neurons 40%
• Sparsity 20%
• Receiving Feedback 20%
• Time Application 20%
• Disturbance Force 20%
• Adaptation 20%
• Hyperparameters 20%
• Recursive Least Squares 20%
• Back Propagation Algorithm 20%
• Network Parameters 20%
• Impulse Response 20%
• Recursive Least Squares Algorithm 20%
• Learning Process 20%
• Prediction Skill 20%
• Robot Body 20%
• Lyapunov Stability Criteria 20%
• Neuron Connections 20%
• Inverted Pendulum Model 20%
• Validation Set 20%
• Disturbance Response 20%

INIS

• dynamics 100%
• robots 100%
• neural networks 100%
• algorithms 44%
• errors 44%
• comparative evaluations 22%
• least square fit 22%
• disturbances 22%
• neurons 22%
• performance 11%
• applications 11%
• prediction 11%
• convergence 11%
• feedback 11%
• nonlinear problems 11%
• units 11%
• validation 11%
• stability 11%
• learning 11%
• impulse 11%
• connections 11%
• pendulums 11%
• lyapunov method 11%
• readout systems 11%

Engineering

• Robot 100%
• Recurrent Neural Network 100%
• Mean-Squared-Error 57%
• Network Model 28%
• Recursive 28%
• Least Square 28%
• Sparsity 14%
• Good Performance 14%
• Backpropagation Algorithm 14%
• Network Parameter 14%
• Inverted Pendulum 14%
• Impulse Response 14%
• Prediction Capability 14%
• Good Prediction 14%
• Lyapunov Stability 14%
• Disturbance Response 14%