書誌事項
- タイトル別名
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- Step by Step Learning with Mechanical Assistance.
- リキガクテキ ホジョ ニ ヨル ダンカイテキ ナ ガクシュウ ホウホウ
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抄録
This paper proposes a learning method which employs an assistance for simplifying a motion to learn and learns it from easy to difficult gradually. Using Genetic Algorithm, it searches for the parameters of a controller appropriate for controlling the motion to learn with gradually increasing difficulty, i.e., with gradually decreasing degree of assistance. We show that this gradual search enables Genetic Algorithm to evolve a population of controllers efficiently by giving two examples: stable riding of a bicycle and stable control of a double inverted pendulum. A bicycle is much easier to control when it is running at a certain velocity. An initial velocity is given as assistance. The learning method searches for a controller gradually decreasing the initial velocity. Similarly a double inverted pendulum is much easier to control when an upward force supports the distal end of the pendulum. The learning method searches for a controller gradually decreasing the upward force. The reduction rate of assistance is adjustable in accordance with the adaptability of a population to the reduction.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 16 (8), 1069-1075, 1998
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679701479168
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- NII論文ID
- 10002864983
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4604013
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可