1P2-Q05 Analyses of Relationship between Energy Transfer in Robot Links and Motor Commands Using State-Action Value Function (New Control Theory and Motion Control (2))

Abstract

The purpose of our research is to improve robot motion ability not depending on only actuator power. In multi-link systems such as humans and robots, energy is transferred between links. That is called the kinetic chain. Humans realize high motion ability not depending on only actuator power using the kinetic chain. In this paper, we describes the results of analyses of relationship between energy transfer in robot links and motor commands.