Bipedal locomotion has several key challenges, such as balancing, foot placement, and gait optimization. We reach optimality from a very early age by using natural supports, such as our parent's hands, chairs, and training wheels, and bootstrap a new knowledge from the recently acquired one. In this paper, we propose a scaffolded learning method from an evolutionary robotics perspective, where a biped creature achieves stable and independent bipedal walking while exploiting the natural scaffold of its changing morphology to create a third limb. Hence, we compare three conditions of scaffolded learning to reach bipedalism, and we prove that a performance-based scaffold is the most conducive to accelerate the learning of ontogenetic bipedal walking. Beyond a pedagogical experiment, this work presents a powerful tool to accelerate learning on robots.

中文翻译：

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双足步行者的脚手架学习：自举发展。

双足运动有几个关键挑战，例如平衡，脚部放置和步态优化。我们从很小的时候就开始使用自然支撑（例如父母的手，椅子和训练轮）达到最佳状态，并从最近获得的知识中汲取新知识。在本文中，我们从进化机器人学的角度提出了一种脚手架学习方法，在该方法中，两足动物通过稳定的形态变化的自然脚手架创造了第三肢，从而实现了稳定且独立的两足步行。因此，我们比较了脚手架学习达到双足运动的三种条件，并证明了基于性能的脚手架最有利于加速自体两足行走的学习。除了教学实验，