Paper Abstract and Keywords |
Presentation |
2015-06-11 09:00
Reinforcement Learning-Based Fall-Prevention Control with Firm Standing for a Humanoid Robot Model Tomoyuki Yamaguchi, Tatsuya Kai (Tokyo Univ. of Science) NLP2015-39 CCS2015-1 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
This study deals with a fall-prevention control problem for a humanoid robot model based on reinforcement learning. The main aim is to prevent a fall of a humanoid robot model with firm standing action when the robot is subjected to an external force, and we develop a control strategy that the behavior of the robot in the fall-prevention action is limited and learning time is reduced by decreasing of the number of the control inputs. We also consider an estimation method of the control input by using previous data for fall-prevention control to unknown external forces. By numerical simulations, it is confirmed that fall-prevention control with only firm standing is achieved and hence the new method is effective. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Humanoid Robot / Reinforcement Learning / Fall-Prevention Control / Firm Standing / Zero Moment Point / / / |
Reference Info. |
IEICE Tech. Rep., vol. 115, no. 77, NLP2015-39, pp. 1-6, June 2015. |
Paper # |
NLP2015-39 |
Date of Issue |
2015-06-04 (NLP, CCS) |
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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NLP2015-39 CCS2015-1 |
Conference Information |
Committee |
NLP CCS |
Conference Date |
2015-06-11 - 2015-06-12 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Waseda Univerisity |
Topics (in Japanese) |
(See Japanese page) |
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Paper Information |
Registration To |
NLP |
Conference Code |
2015-06-NLP-CCS |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Reinforcement Learning-Based Fall-Prevention Control with Firm Standing for a Humanoid Robot Model |
Sub Title (in English) |
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Keyword(1) |
Humanoid Robot |
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Reinforcement Learning |
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Fall-Prevention Control |
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Firm Standing |
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Zero Moment Point |
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1st Author's Name |
Tomoyuki Yamaguchi |
1st Author's Affiliation |
Tokyo University of Science (Tokyo Univ. of Science) |
2nd Author's Name |
Tatsuya Kai |
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Tokyo University of Science (Tokyo Univ. of Science) |
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Speaker |
Author-1 |
Date Time |
2015-06-11 09:00:00 |
Presentation Time |
25 minutes |
Registration for |
NLP |
Paper # |
NLP2015-39, CCS2015-1 |
Volume (vol) |
vol.115 |
Number (no) |
no.77(NLP), no.78(CCS) |
Page |
pp.1-6 |
#Pages |
6 |
Date of Issue |
2015-06-04 (NLP, CCS) |
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