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 and 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) |
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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) |
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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) |
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CPG |
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energy-efficiency |
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reinforcement learning |
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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 |
6 |
Date of Issue |
2009-03-04 (NC) |