Study on Obtained Advance Motion Forms of a Caterpillar Robot by using Reinforcement Learning
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- MOTOYAMA Haruhisa
- 横浜国立大学大学院工学府
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- YAMASHINA Ryota
- Ricoh Co., Ltd
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- HARA Masayuki
- 横浜国立大学大学院工学府
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- HUANG Jian
- Department of Mechanical Engineering, Graduate School of Eftgineering, Yokohama National University
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- YABUTA Tetsuro
- Department of Mechanical Engineering, Graduate School of Eftgineering, Yokohama National University
Bibliographic Information
- Other Title
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- 強化学習によって獲得される芋虫型ロボットの前進行動形態に関する考察
- キョウカ ガクシュウ ニ ヨッテ カクトク サレル イモムシガタ ロボット ノ ゼンシン コウドウ ケイタイ ニ カンスル コウサツ
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Abstract
A learning function is essential for human beings both to obtain and to adjust suitable motions. Especially, from a viewpoint of biological evaluation, observing process in acquisition of motion forms is a very interesting problem. However, there are few reports on acquisition of an actual robot motion form under applying learning algorithms. This paper clarifies how the actual robot obtains the motion form by use of the Reinforcement Learning method. These results show various motion form of the advance motion, the acquisition process of the motion form and the learning parameter effort on the motion form. Moreover, this paper clarifies environment effect on the motion form of the actual robot.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 72 (723), 3525-3532, 2006
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001206387952896
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- NII Article ID
- 110004997426
- 130004236248
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 8590460
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed