| Paper Abstract and Keywords |
| Presentation |
2007-03-14 17:00
Acquiring vermicular motion of a Looper-like robot based on the CPG-Actor-Critic method
Kenji Makino (NAIST), Yutaka Nakamura (Osaka Univ.), Tomohiro Shibata, Shin Ishii (NAIST) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
Adaptability to the environment is crucial for mobile robots, because the circumstance, including the body of the robot, may change. A robot with a large number of degrees of freedom possesses potential to adapt to such circumstances, but it is difficult to design a good controller for such a robot. In this study, we apply our RL method called the CPG-actor-critic method to the control of a looper-like robot we have developed. Experimental
results demonstrate acquisition of a vermicular forward motion exhibiting the best performance of the actuator, and acquisition of recovery from a malfunction of an actuator. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
Reinforcement Learning / Looper-like Robot / CPG Controller / CPG-Actor-Critic / / / / |
| Reference Info. |
IEICE Tech. Rep., vol. 106, no. 588, NC2006-152, pp. 203-208, March 2007. |
| Paper # |
NC2006-152 |
| Date of Issue |
2007-03-07 (NC) |
| ISSN |
Print edition: ISSN 0913-5685 |
| Download PDF |
|
| Conference Information |
| Committee |
NC |
| Conference Date |
2007-03-14 - 2007-03-16 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Tamagawa University |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
General |
| Paper Information |
| Registration To |
NC |
| Conference Code |
2007-03-NC |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Acquiring vermicular motion of a Looper-like robot based on the CPG-Actor-Critic method |
| Sub Title (in English) |
|
| Keyword(1) |
Reinforcement Learning |
| Keyword(2) |
Looper-like Robot |
| Keyword(3) |
CPG Controller |
| Keyword(4) |
CPG-Actor-Critic |
| Keyword(5) |
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| Keyword(6) |
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| Keyword(7) |
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| 1st Author's Name |
Kenji Makino |
| 1st Author's Affiliation |
Nara Institute of Science and Technology (NAIST) |
| 2nd Author's Name |
Yutaka Nakamura |
| 2nd Author's Affiliation |
Osaka University (Osaka Univ.) |
| 3rd Author's Name |
Tomohiro Shibata |
| 3rd Author's Affiliation |
Nara Institute of Science and Technology (NAIST) |
| 4th Author's Name |
Shin Ishii |
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Nara Institute of Science and Technology (NAIST) |
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| Speaker |
Author-1 |
| Date Time |
2007-03-14 17:00:00 |
| Presentation Time |
20 minutes |
| Registration for |
NC |
| Paper # |
NC2006-152 |
| Volume (vol) |
vol.106 |
| Number (no) |
no.588 |
| Page |
pp.203-208 |
| #Pages |
6 |
| Date of Issue |
2007-03-07 (NC) |