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 |
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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) |
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Keyword(1) |
Reinforcement Learning |
Keyword(2) |
Looper-like Robot |
Keyword(3) |
CPG Controller |
Keyword(4) |
CPG-Actor-Critic |
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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) |
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