| Presentation | 2006-03-17 Adaptive Locomotion of a Quadruped Robot by a CPG Model Using Adjustment of Servo Gain Tomohisa YAMASHITA, Naohiro FUKUMURA, Yoji UNO, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The locomotion control method of a legged robot that was modeled on a CPG locomotion control mechanism of animals has been proposed and adapted to a small environment change by robustness of CPG model. However, when an environment change is large, it is necessary to modify the gait without adjustment of the CPG parameters. To adapt such a situation, we introduce a control mechanism of servo gains as parameters of muscular stiffness and implemented to a real robot AIBO. As a result, the robot acquired appropriate parameters for various environments autonomously by reinforcement learning. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | CPG / Servo Gain / Dynamic Locomotion on Irregular Terrain / Quadrupedal Robot / Reinforcement Learning |
| Paper # | NC2005-153 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2006/3/10(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Adaptive Locomotion of a Quadruped Robot by a CPG Model Using Adjustment of Servo Gain |
| Sub Title (in English) | |
| Keyword(1) | CPG |
| Keyword(2) | Servo Gain |
| Keyword(3) | Dynamic Locomotion on Irregular Terrain |
| Keyword(4) | Quadrupedal Robot |
| Keyword(5) | Reinforcement Learning |
| 1st Author's Name | Tomohisa YAMASHITA |
| 1st Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology() |
| 2nd Author's Name | Naohiro FUKUMURA |
| 2nd Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology:Intelligent Sensing System Research Center, Toyohashi University of Technology |
| 3rd Author's Name | Yoji UNO |
| 3rd Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology:Intelligent Sensing System Research Center, Toyohashi University of Technology |
| Date | 2006-03-17 |
| Paper # | NC2005-153 |
| Volume (vol) | vol.105 |
| Number (no) | 659 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |