A Kinodynamic Planning-Learning Algorithm for Complex Robot Motor Control

Abstract—Robot motor control learning is currently one of the most active research areas in robotics. Many learning techniques have been developed for relatively simple problems. However, very few of them have direct applicability in complex robotic systems without assuming prior knowledge about the task, mainly due to three facts. Firstly, they scale badly to continues and high dimensional problems. Secondly, they need too many real robot-environment interactions. Finally, they are not capable of adapting to environment or robot dynamic changes. In order to overcome these problems, we have developed a new algorithm capable of finding from scratch open-loop state-action trajectory solutions by mixing sample-based tree kinodynamic planning with dynamic model learning. Some results demonstrating the viability of this new type of approach in the cart-pole swing-up task problem are presented. I