Abstract
The exercise to move a whole body from a certain place to other places is one of basic and important activities for all creatures. In our laboratory, on the view point of forward locomotion-pattern, we have succeeded that various robots acquire locomotion pattern by using Q-learning method that is one of the reinforcement learning. However all locomotion-patterns of our previous studies are assumed to be quasi-static, whose motion velocity is very slow. For that reason, this paper attempts to acquire dynamic and consecutive locomotion-pattern of qudarupedal robot. Hoyt et al. researched relation between running velocity and oxygen consumption per unit distance when horses walk, trot and gallop at any speed. According to these results, each gait has a certain velocity to minimize oxygen consumption, and has the almost same minimum value among each gait. Therefore, this paper attempts to reproduce this phenomenon of a mobile robot.
