| Presentation | 2002/3/11 Acquisition of locomotion by reinforcement learning using neural oscillator network Yutaka NAKAMURA, Shin ISHII, Masa-aki SATO, |
|---|---|
| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Animal rhythmic movements such as locomotion are considered to be controlled by neural circuits called central pattern generators (CPGs), which generate oscillatory signals. Motivated by such a control mechanism, rhythmic movements controlled by CPG has been studied. In this report, we propose a new reinforcement learning method for CPG controller, which is called the CPG-actor-critic method. We apply this method to the reinforcement learning for the biped robot. The computer simulation shows that our method is able to train the CPG such that the biped robot walks stably. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Reinforcement learning / Actor-critic architecture / Central pattern generator / Neural oscillator network / Bipedal walking |
| Paper # | NC2001-156 |
| Date of Issue |
| Conference Information | |
| Committee | NC |
|---|---|
| Conference Date | 2002/3/11(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Neurocomputing (NC) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Acquisition of locomotion by reinforcement learning using neural oscillator network |
| Sub Title (in English) | |
| Keyword(1) | Reinforcement learning |
| Keyword(2) | Actor-critic architecture |
| Keyword(3) | Central pattern generator |
| Keyword(4) | Neural oscillator network |
| Keyword(5) | Bipedal walking |
| 1st Author's Name | Yutaka NAKAMURA |
| 1st Author's Affiliation | Nara Institute of Science and Technology() |
| 2nd Author's Name | Shin ISHII |
| 2nd Author's Affiliation | Nara Institute of Science and Technology:CREST, Japan Science and Technology Corporation |
| 3rd Author's Name | Masa-aki SATO |
| 3rd Author's Affiliation | ATR Human Information Science Laboratories:CREST, Japan Science and Technology Corporation |
| Date | 2002/3/11 |
| Paper # | NC2001-156 |
| Volume (vol) | vol.101 |
| Number (no) | 735 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |