Publication detail

LEARNING BASED CONTROL SYSTEM OF FOUR-LEGGED ROBOT

BŘEZINA, T. HOUŠKA, P. SINGULE, V.

Czech title

LEARNING BASED CONTROL SYSTEM OF FOUR-LEGGED ROBOT

English title

LEARNING BASED CONTROL SYSTEM OF FOUR-LEGGED ROBOT

Type

conference paper

Language

cs

Original abstract

Possible discretization technique of the continuous state space of four-legged robot using simultaneous compositions of behaviors is described in this contribution. Compositions are generated by the instances of two basic controllers. The aim is to automatically develop the gait policy. Possible composition strategies are implemented through undeterministic state machine. In the machine design stage the number of both machine states and transitions could be essetially reduced using formal considerations only. Furthermore machine transitions are evaluated by selected alternative of Q-learning to incrementally improve the estimation of the future benefit from single transitions. This technique results in simultaneous activations of controller compositions instances with the highest estimation of the future benefit.

Czech abstract

Possible discretization technique of the continuous state space of four-legged robot using simultaneous compositions of behaviors is described in this contribution. Compositions are generated by the instances of two basic controllers. The aim is to automatically develop the gait policy. Possible composition strategies are implemented through undeterministic state machine. In the machine design stage the number of both machine states and transitions could be essetially reduced using formal considerations only. Furthermore machine transitions are evaluated by selected alternative of Q-learning to incrementally improve the estimation of the future benefit from single transitions. This technique results in simultaneous activations of controller compositions instances with the highest estimation of the future benefit.

English abstract

Possible discretization technique of the continuous state space of four-legged robot using simultaneous compositions of behaviors is described in this contribution. Compositions are generated by the instances of two basic controllers. The aim is to automatically develop the gait policy. Possible composition strategies are implemented through undeterministic state machine. In the machine design stage the number of both machine states and transitions could be essetially reduced using formal considerations only. Furthermore machine transitions are evaluated by selected alternative of Q-learning to incrementally improve the estimation of the future benefit from single transitions. This technique results in simultaneous activations of controller compositions instances with the highest estimation of the future benefit.

Keywords in Czech

Control Composition, Q-learning, Walking of Robot

Keywords in English

Control Composition, Q-learning, Walking of Robot

RIV year

2002

Released

13.05.2002

Publisher

Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Brno University of Technology

Location

Brno

ISBN

80-214-2109-6

Book

Inženýrská mechanika 2002

Edition number

1

Pages count

2

BIBTEX


@inproceedings{BUT9660,
  author="Tomáš {Březina} and Pavel {Houška} and Vladislav {Singule},
  title="LEARNING BASED CONTROL SYSTEM OF FOUR-LEGGED ROBOT",
  booktitle="Inženýrská mechanika 2002",
  year="2002",
  month="May",
  publisher="Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Brno University of Technology",
  address="Brno",
  isbn="80-214-2109-6"
}