Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU37382" target="_blank" >RIV/00216305:26210/03:PU37382 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL

Original language description

Significant goal in walking robot design is realisation of autonomous system which is capable of motion in unknown environment. One of the possibilities how to reach necessary adaptability of control system without modelling the complex and unpredictablecases of system behaviour is the application of Q-learning. The contribution describes experiences with the use of Q-learning through discretization of continuous state space of four legged robot. Q-learning is applied to realization of simultaneous commpositions of behaviours. These compositions are obtained by concurrent activations of two simple basic controllers instances and . Control process is created by optimization procedure that operates with penalty function with global minimum in control target.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2003

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of 6th international symposium on Mechatronics

ISBN

80-88914-92-2

ISSN

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e-ISSN

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Number of pages

4

Pages from-to

66-69

Publisher name

Alexander Dubček University of Trenčín, Faculty of Mechatronics, Trenčín, SLOVAKIA

Place of publication

Trenčín, SK

Event location

Trenčanské Teplice, SLOVAKIA

Event date

Jun 18, 2003

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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