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Paper Abstract and Keywords
Presentation 2009-03-11 16:35
Learning CPG-based energy-efficient biped locomotion with a policy gradient method
Yoshiyuki Azuma, Tomohiro Shibata (Nara Inst. of Sci and Tech.) NC2008-125
Abstract (in Japanese) (See Japanese page) 
(in English) Central Pattern Generator (CPG) has been applied to controlling multi-link/joint robots including
bipedal robots because it enables convenient controls with a fewer number of degree of freedom. Reinforcement
learning methods have often been applied to determine internal parameter values of the CPG. Investigation of
energy efficiency of the controller, however, has not been done for robots controlled by the CPG. By simulation,
we demonstrate that energy-efficient bipedal walking controller can be acquired by policy gradient learning whose
reward function uses an index called Cost of mechanical transport Cmt.
Keyword (in Japanese) (See Japanese page) 
(in English) CPG / energy-efficiency / reinforcement learning / policy gradient / / / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 480, NC2008-125, pp. 129-134, March 2009.
Paper # NC2008-125 
Date of Issue 2009-03-04 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2008-125

Conference Information
Committee NC MBE  
Conference Date 2009-03-11 - 2009-03-13 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2009-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Learning CPG-based energy-efficient biped locomotion with a policy gradient method 
Sub Title (in English)  
Keyword(1) CPG  
Keyword(2) energy-efficiency  
Keyword(3) reinforcement learning  
Keyword(4) policy gradient  
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1st Author's Name Yoshiyuki Azuma  
1st Author's Affiliation Nara Institute of Science and Technology (Nara Inst. of Sci and Tech.)
2nd Author's Name Tomohiro Shibata  
2nd Author's Affiliation Nara Institute of Science and Technology (Nara Inst. of Sci and Tech.)
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Speaker Author-1 
Date Time 2009-03-11 16:35:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2008-125 
Volume (vol) vol.108 
Number (no) no.480 
Page pp.129-134 
#Pages
Date of Issue 2009-03-04 (NC) 


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