Characteristics of learning and sensory dimension in two-mobile robots system
説明
We investigate quantitatively the characteristics of relationships between learning and the sensory dimension. In the task of a two-mobile robotic system composed of a driving body and 1-DOF prismatic arm, carrying a long bar horizontally along a sinusoidal wavy road while keeping the bar-support length constant, a sensory-motor coordination is acquired by the reinforcement learning. We find the following results: when the two-mobile robotic system executes the task, a cooperative behavior performed by the forward and backward locomotions is needed, and we find 8 sensory dimensions that are necessary and sufficient in perception of the state for the robotic system. The sensory contribution rate of each sensory dimension for the perception of the robotic state is defined. Also, the two-mobile robotics system which is only equipped with sensors of large sensory contribution rate, can acquire the robotic control for the cooperative behavior of forward and backward locomotions by the online learning.
収録刊行物
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- Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) 2 957-962, 2002-11-13
IEEE