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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10445/8446

タイトル: Learning Adaptive Escape Behavior for Wheel-Legged Robot by Inner Torque Information
著者: Nishimura, Yuki
MIKAMI, Sadayoshi
アブストラクト: Autonomous robots used for rescue or exploration needs to work in unknown environment. Such robots should select appropriate actions corresponding to their environments. In this research, we develop a wheel-legged robot getting better actions in unknown environment with reinforcement learning. We used values of external force measured on the robot's legs as the definition of states and rewards. For the quick convergence, the number of states and actions are reduced by using the characteristics of the robot’s structure. To evaluate the performance of our learning system, we carried out some experiments with a simulator using a physics engine. The results of the experiments show the effectiveness of our system.
研究業績種別: 国際会議/International Conference
資料種別: Conference Paper
査読有無: あり/yes
単著共著: 共著/joint
発表雑誌名,発表学会名など: Joint 8th International Conference on Soft Computing and Intelligent Systems and 17th International Symposium on Advanced Intelligent Systems
開始ページ: 10
終了ページ: 15
年月日: 2016年8月26日
出版社: IEEE
出現コレクション:三上 貞芳


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