Abstract
In this paper, we apply reinforcement learning to acquire gait patterns of quadruped walking robot, AIBO, produced by Sony. The purposes of our study are to investigate a method of applying reinforcement learning effectively and to examine the applicability of reinforcement learning to a commercial robot, where the function are restricted to some extent. In the paper, we adopt the Actor-Critic algorithm with eligibility trace, and newly design a reinforcement learning method. Through several experiments by using our proposed method, it is observed that one of the typical gait pattern of quadruped can be acquired.
