WEKO3
アイテム
Learning Adaptive Escape Behavior for Wheel-Legged Robot by Inner Torque Information
http://hdl.handle.net/10445/8446
http://hdl.handle.net/10445/8446e9f1ed7a-a48c-4dfe-9c1e-a22217d84c26
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2678a010.pdf (605.8 kB)
Download is available from 2999/12/31.
|
|
| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Learning Adaptive Escape Behavior for Wheel-Legged Robot by Inner Torque Information | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Nishimura, Yuki
× Nishimura, Yuki× 三上, 貞芳 |
|||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | 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. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | doi: 10.1109/SCIS&ISIS.2016.149 | |||||
| 書誌情報 |
Joint 8th International Conference on Soft Computing and Intelligent Systems and 17th International Symposium on Advanced Intelligent Systems p. 10-15, 発行日 2016-08-26 |
|||||
| 査読有無 | ||||||
| 値 | あり/yes | |||||
| 研究業績種別 | ||||||
| 値 | 国際会議/International Conference | |||||
| 単著共著 | ||||||
| 値 | 共著/joint | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
