Acquisition of Goal-Oriented Behavior for Snake-Like Robot by CPG and Reinforcement Learning

DOI Web Site 2 Citations 3 References Open Access

Bibliographic Information

Other Title
  • CPGと強化学習を用いたヘビ型ロボットの目標到達行動の獲得

Description

<p>In this study, we assembly the snake-like robot using ROBOTIS Bioloid and then we realize that the snake-like robot acquires the goal-oriented behavior by CPG and reinforcement learning. CPG (Central Pattern Generator) is a system generating the periodical motion patterns. We apply reinforcement learning to the snake-like robot in order to optimize the offset values of motors. The framework using CPG and reinforcement learning enables the acquisition of behavior knowledge based on physical characteristic of the assembled snake-like robot. Moreover, we realize the autonomous snake-like robot with Raspberry Pi and Web camera. The autonomous snake-like robot by itself can acquire the goal-oriented behavior.</p>

Journal

Citations (2)*help

See more

References(3)*help

See more

Related Projects

See more

Keywords

Details 詳細情報について

Report a problem

Back to top