書誌事項
- タイトル別名
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- Relation between Probabilistic Giant Swing Behavior of a Robot and Its Reward Using Reinforcement Learning
抄録
We have succeeded in acquiring forward actions to various robot systems using Reinforcement Learning. We have also succeeded in acquiring a giant swing motion as dynamic task by devising its rewards. Although the giant swing robot has a continuous dynamic motion such as its angle and angler velocity, its state of the motion must be divided into discrete states in order to apply the reinforcement learning. Moreover, this giant swing robot system is not under Markov decision process by both control and defective sensation problem. For these reason, this robot shows probabilistic behavior. Then, this paper attempts to clarify the effect of probabilistic behavior of giant swing on the view point of various rewards, whose results are visualized using rotation rate. The results also show that features of the effect of probabilistic behavior are different for each reward.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 79 (807), 4335-4339, 2013
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681363710592
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- NII論文ID
- 130003386490
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- ISSN
- 18848354
- 03875024
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可