| ID | 33073 |
| フルテキストURL | |
| 著者 |
Ito, Kazuyuki
Okayama University
Matsuno, Fumitoshi
Tokyo Institute of Technology
|
| 抄録 | We consider a flexible autonomous system. To realize the system, we employ a hyper-redundant system (a flexible hardware system) and reinforcement learning controller "QDSEGA" (Q-learning with structuring exploration space based on genetic algorithm) which is a flexible software system. In this paper we apply QDSEGA for controlling of the hyper-redundant robot. To demonstrate the effectiveness, a task of acquisition of locomotion patterns is applied to a multi-legged formation and a snake-like formation, from which an effective locomotion is obtained. |
| キーワード | Hyper-redundant systems
Q-learning
Reinforcement learning
Genetic Algorithm
QDSEGA
|
| 備考 | Published with permission from the copyright holder. this is the institute's copy, as published in SICE 2002. Proceedings of the 41st SICE Annual Conference, 5-7 Aug. 2002, Volume 3, Pages 1499-1504.
Publisher L:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1196529 Copyright © 2002 IEEE. All rights reserved. |
| 発行日 | 2002-8
|
| 出版物タイトル |
SICE 2002. Proceedings of the 41st SICE Annual Conference
|
| 巻 | 3巻
|
| 開始ページ | 1499
|
| 終了ページ | 1504
|
| 資料タイプ |
学術雑誌論文
|
| 言語 |
英語
|
| 査読 |
有り
|
| DOI | |
| Submission Path | mechanical_engineering/8
|
