| Presentation | 2007-03-14 Acquiring vermicular motion of a Looper-like robot based on the CPG-Actor-Critic method Kenji MAKINO, Yutaka NAKAMURA, Tomohiro SHIBATA, Shin ISHII, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Reinforcement Learning / Looper-like Robot / CPG Controller / CPG-Actor-Critic |
| Paper # | NC2006-152 |
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| Committee | NC |
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| Conference Date | 2007/3/7(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) | Acquiring vermicular motion of a Looper-like robot based on the CPG-Actor-Critic method |
| Sub Title (in English) | |
| Keyword(1) | Reinforcement Learning |
| Keyword(2) | Looper-like Robot |
| Keyword(3) | CPG Controller |
| Keyword(4) | CPG-Actor-Critic |
| 1st Author's Name | Kenji MAKINO |
| 1st Author's Affiliation | Department of Bioinformatics and Genomics Graduate School of Information Science Nara Institute of Science and Technology (NAIST)() |
| 2nd Author's Name | Yutaka NAKAMURA |
| 2nd Author's Affiliation | Department of Adaptive Machine Systems Graduate School of Engeneering Osaka University |
| 3rd Author's Name | Tomohiro SHIBATA |
| 3rd Author's Affiliation | Department of Bioinformatics and Genomics Graduate School of Information Science Nara Institute of Science and Technology (NAIST) |
| 4th Author's Name | Shin ISHII |
| 4th Author's Affiliation | Department of Bioinformatics and Genomics Graduate School of Information Science Nara Institute of Science and Technology (NAIST) |
| Date | 2007-03-14 |
| Paper # | NC2006-152 |
| Volume (vol) | vol.106 |
| Number (no) | 588 |
| Page | pp.pp.- |
| #Pages | 6 |
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