Abstract
In our laboratory, we have succeeded in acquiring forward actions to various biological robot systems using Reinforcement Learning. And we have discussed biotic wonder by using robots that is easy to research. Therefore, this research attempts to reproduce in a quadrupedal robot the phenomenon that quadrupeds change gait from a walk to a trot to a gallop in response to running speed. In the past it has become clear that the acquired locomotion-patters have optimum velocity in point of energetic efficiency. On this point, a robot emulate to quadrupeds. But, in terms of the whole reinforcement learning result, acquired locomotion-patterns of robot are different from quadruped's. So this paper focuses attention on the symmetry of action and studies locomotion-pattern acquisition of a quadrupedal robot.
