Learning Bipedal Walking Through Morphological Development

Martin Naya, Andres Faina, Richard Duro

Research output: Conference Article in Proceeding or Book/Report chapterArticle in proceedingsResearchpeer-review


Morphological development has shown its efficiency in improving learning and adaptation to the environment in natural organisms from infancy to adulthood. In the case of robot learning, this is not so clear. The results of a series of experiments that have been carried out in previous work have allowed us to extract, from an analytical perspective, some notions about how and under what conditions morphological development may influence learning. In this paper, we want to adopt an engineering or synthesis perspective and test whether these notions can be used to construct a successful morphological development strategy for a difficult task: learning bipedal locomotion. In particular, we have addressed learning to walk in a 14 degrees of freedom NAO type robot and have designed a morphological development strategy to this end. The results obtained have allowed us to validate the relevance of the assumptions made for the design and implementation of a morphological development strategy.
Original languageEnglish
Title of host publicationProceedings of the 16th International Conference on Hybrid Artificial Intelligence Systems
Number of pages12
Publication date2021
ISBN (Print)978-3-030-86270-1
ISBN (Electronic)978-3-030-86271-8
Publication statusPublished - 2021
Event16th International Conference on Hybrid Artificial Intelligence Systems - Bilbao, Spain
Duration: 22 Sept 202124 Sept 2021


Conference16th International Conference on Hybrid Artificial Intelligence Systems
SeriesLecture Notes in Computer Science


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