書誌事項
- タイトル別名
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- Applying QDSEGA to the multi legged robot
- QDSEGA ニ ヨル タソク ロボット ノ ホコウ ウンドウ ノ カクトク
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抄録
Reinforcement learning is very effective for robot learning. Because it does not need priori knowledge and has higher capability of reactive and adaptive behaviors. In our previous works, we proposed new reinforcement learning algorithm: “Q-learning with Dynamic Structuring of Exploration Space Based on Genetic Algorithm (QDSEGA)”. It is designed for complicated systems with large action-state space like a robot with many redundant degrees of freedom. And we applied it to 50 link manipulator and effective behavior is acquired. However optimality and fault tolerance of the proposed algorithm were not considered and to demonstrate effectiveness of the proposed algorithm other applications are necessary. Acquiring of locomotion patterns by a multi-legged robot is a very interesting problem. As it has many redundant degrees of freedom, application of usual reinforcement learning is difficult and an optimal locomotion has not been acquired using previous reinforcement learning algorithm. And the redundancy of the robot is effective to the fault tolerance and various locomotion patterns can be acquired for adapting the faults of the legs. In this paper, we applied QDSEGA to acquiring of locomotion pattern by the multi-legged robot and considered the optimality and fault tolerance. Effective behavior has been obtained by using our proposed algorithm.
収録刊行物
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- 人工知能学会論文誌
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人工知能学会論文誌 17 363-372, 2002
一般社団法人 人工知能学会
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詳細情報 詳細情報について
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- CRID
- 1390282680083546880
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- NII論文ID
- 10015771319
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- NII書誌ID
- AA11579226
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- ISSN
- 13468030
- 13460714
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- NDL書誌ID
- 6448682
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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
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- 抄録ライセンスフラグ
- 使用不可