モデルベース強化学習により獲得される歩行運動に内在する脚協調構造

抄録

In the field of motor control, ”Synergy Hypothesis” is a concept that behaviors are constructed by a combination of the patterns of movement called synergy. A large number of studies have supported this hypothesis as an explanation for redundant body control in humans and animals. Although much research has been done on the concept of synergy, the mechanism of synergy generation remains still unknown. In this study, we generate gait by Model-Based Reinforcement Learning, which is a control framework utilizing a function like internal model in the human brain, and analyze the spatiotemporal synergy inherent in the generated gait. As a result, we found that walking speed and energy efficiency are important factors for synergy generation.