| Presentation | 2013-01-24 Control of the falling cat motion by using path-integral reinforcement learning Daichi NAKANO, Shin-ichi MAEDA, Shin ISHII, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The falling-cat motion is a motion for controlling the cat's posture under no existence of external force. To obtain a controller that emits such a motion is of practice, because of its applicability to controlling problems of various systems including space robots. It is not an easy task, however, because the cat's posture control is a nonholonomic system to which general state feedback control is hard to be applied. In this study, we propose an approach to use path integral reinforcement learning for identifying a control policy that is dependent on time but independent of system state. We will show that the proposed method can acquire such a control policy that achieves a goal state (a goal posture) of a dynamical system which models the cat's posture control, in an efficient manner. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Nonholonomic system / falling-cat motion / path integral reinforcement learning |
| Paper # | NLP2012-107,NC2012-97 |
| Date of Issue |
| Conference Information | |
| Committee | NLP |
|---|---|
| Conference Date | 2013/1/17(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 | Nonlinear Problems (NLP) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Control of the falling cat motion by using path-integral reinforcement learning |
| Sub Title (in English) | |
| Keyword(1) | Nonholonomic system |
| Keyword(2) | falling-cat motion |
| Keyword(3) | path integral reinforcement learning |
| 1st Author's Name | Daichi NAKANO |
| 1st Author's Affiliation | Department of System Science, Graduate School of Informatics, Kyoto University() |
| 2nd Author's Name | Shin-ichi MAEDA |
| 2nd Author's Affiliation | Department of System Science, Graduate School of Informatics, Kyoto University |
| 3rd Author's Name | Shin ISHII |
| 3rd Author's Affiliation | Department of System Science, Graduate School of Informatics, Kyoto University |
| Date | 2013-01-24 |
| Paper # | NLP2012-107,NC2012-97 |
| Volume (vol) | vol.112 |
| Number (no) | 389 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |