Publication detail
THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS
BŘEZINA, T. HOUŠKA, P. SINGULE, V.
English title
THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS
Type
conference paper
Language
en
Original abstract
The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.
English abstract
The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.
Keywords in English
mechatronics, walking robots, machine learning, Q-learning
RIV year
2003
Released
24.09.2003
Location
Košice, SK
ISBN
80-89061-77-X
Book
Electrical Drives and Power Electronics 2003
Volume
Neuveden
Edition number
Neuveden
Pages count
6
BIBTEX
@inproceedings{BUT8151,
author="Tomáš {Březina} and Pavel {Houška} and Vladislav {Singule},
title="THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS",
booktitle="Electrical Drives and Power Electronics 2003",
year="2003",
volume="Neuveden",
month="September",
address="Košice, SK",
isbn="80-89061-77-X"
}