Learning Control

Abstract

This chapter presents an overview of learning approaches for the acquisition of controllers and movement skills in humanoid robots. The term learning control refers to the process of acquiring a control strategy to achieve a task. While the definition is in some cases restrained to trial-and-error learning, we present here learning control in a broader perspective, with a focus on the representation of skills to be acquired, and on the different learning strategies that can contribute to the acquisition of robust and adaptive controllers for humanoids.