Walking Gait of Four-Legged Robot Obtained Throug Q Learning

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU36728" target="_blank" >RIV/00216305:26210/03:PU36728 - isvavai.cz</a>
Alternative codes found
RIV/61388998:_____/03:51030198
Result on the web
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DOI - Digital Object Identifier
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Result language
čeština
Original language name
Walking Gait of Four-Legged Robot Obtained Throug Q Learning
Original language description
The possible method of walking policy obtaining of four-legged robot through Q-learning is discussed in the contribution. Q-learning is implemented using architecture represented by nondeterministic state machine that defines both possible discrete states and admissible transitions between them. Discrete state is designed as indicators vector of goals achievement by single simultaneously activated instances of two basic controllers. Only simultaneous activations that guarantee static stability of robotare admissible even in the case when single activations cold not achieve its goals. The controllers attempt to achieve its goals using on-line minimization process. Q-learning sequentially improves an estimation of future benefit from usage of admissiblesimultaneous activations in single discrete states. Walking policy is generated through activations with the highest estimation of future benefit.
Czech name
Walking Gait of Four-Legged Robot Obtained Throug Q Learning
Czech description
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Publication year
2003
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Engeneering Mechanics 2003
ISBN
80-86246-18-3
ISSN
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e-ISSN
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Number of pages
2
Pages from-to
36-37
Publisher name
Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague
Place of publication
Praha
Event location
Svratka
Event date
May 12, 2003
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
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