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Paper Abstract and Keywords
Presentation 2019-03-01 10:00
Local path generation using deep reinforcement learning for four-limbed robots in disaster site
Toshiki Kurosawa (Waseda Univ.), Hiroyuki Ogata (Seikei Univ.), Takaaki Ohkawauchi, Takashi Matsuzawa, Ohya Jun (Waseda Univ.), Kenji Hashimoto (Meiji Univ), Atsuo Takanishi (Waseda Univ.) PRMU2018-125 CNR2018-48
Abstract (in Japanese) (See Japanese page) 
(in English) In recent years, the demand for the use of robots in disaster sites has increased. In this paper, we propose and investigate a method to generate a local path in a disaster responding 4-limbed robot(WAREC - 1) under present circumstances in the presence of obstacles and debris. In this paper, we use a simulator to verify the proposed method in various environments assumed in a disaster site. Experiments showed that local paths suitable for disaster response robots can be generated even on roads where obstacles with difficulty describing their features exist.
Keyword (in Japanese) (See Japanese page) 
(in English) CNN / 4-limbed robot / deep reinforcement learning / obstacle avoidance / Movement of rough terrain / / /  
Reference Info. IEICE Tech. Rep., vol. 118, no. 459, PRMU2018-125, pp. 59-64, Feb. 2019.
Paper # PRMU2018-125 
Date of Issue 2019-02-21 (PRMU, CNR) 
ISSN Online edition: ISSN 2432-6380
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 PRMU2018-125 CNR2018-48

Conference Information
Committee PRMU CNR  
Conference Date 2019-02-28 - 2019-03-01 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To PRMU 
Conference Code 2019-02-PRMU-CNR 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Local path generation using deep reinforcement learning for four-limbed robots in disaster site 
Sub Title (in English)  
Keyword(1) CNN  
Keyword(2) 4-limbed robot  
Keyword(3) deep reinforcement learning  
Keyword(4) obstacle avoidance  
Keyword(5) Movement of rough terrain  
1st Author's Name Toshiki Kurosawa  
1st Author's Affiliation Waseda University (Waseda Univ.)
2nd Author's Name Hiroyuki Ogata  
2nd Author's Affiliation Seikei University (Seikei Univ.)
3rd Author's Name Takaaki Ohkawauchi  
3rd Author's Affiliation Waseda University (Waseda Univ.)
4th Author's Name Takashi Matsuzawa  
4th Author's Affiliation Waseda University (Waseda Univ.)
5th Author's Name Ohya Jun  
5th Author's Affiliation Waseda University (Waseda Univ.)
6th Author's Name Kenji Hashimoto  
6th Author's Affiliation Meiji University (Meiji Univ)
7th Author's Name Atsuo Takanishi  
7th Author's Affiliation Waseda University (Waseda Univ.)
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Speaker Author-1 
Date Time 2019-03-01 10:00:00 
Presentation Time 15 minutes 
Registration for PRMU 
Paper # PRMU2018-125, CNR2018-48 
Volume (vol) vol.118 
Number (no) no.459(PRMU), no.460(CNR) 
Page pp.59-64 
Date of Issue 2019-02-21 (PRMU, CNR) 

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