ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-P05
会議情報
1A1-P05 強化学習による6脚ロボットの歩容獲得と身体構造による影響(進化・学習とロボティクス)
大矢 徹二坂井 直樹豊田 希藪田 哲郎
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会議録・要旨集 フリー

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This paper attempts to acquire locomotion patterns of locomotion robots by using Q-Learning method. Generally, primitive motion forms are achieved using basic motion rhythm by designers. However, in this study, locomotion robots voluntarily acquire locomotion patterns only by using information of interaction with environment. An advantage of this method is able to ensure that these motions are best for these robot mechanisms and environment they exist. In this paper, we apply reinforcement learning to some six-legged robots which have different shapes respectively in simulation. Then we compare each locomotion patterns and find an actual insect locomotion pattern by clarifying mechanical factors.
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© 2011 一般社団法人 日本機械学会
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