Publication detail

USING Q-LEARNING FOR FOUR-LEGGED ROBOT WALKING CONTROL

BŘEZINA, T. HOUŠKA, P. SINGULE, V.

English title

USING Q-LEARNING FOR FOUR-LEGGED ROBOT WALKING CONTROL

Type

conference paper

Language

en

Original abstract

Significant goal in walking robot design is realization of autonomous system which is capable of motion in unknown environment. One of the possibilities how to reach necessary adaptability of control system without modeling of complex and unpredictable cases of system behaviour is the application of machine learning. From various learning paradigms the Q-learning is particularly attractive. For efficient and successful use of Q-learning the proper definition and discretization of state space of environment and state space of robot, suitable choice of action set is essential, and also the set of states and actions should be as small as possible.

English abstract

Significant goal in walking robot design is realization of autonomous system which is capable of motion in unknown environment. One of the possibilities how to reach necessary adaptability of control system without modeling of complex and unpredictable cases of system behaviour is the application of machine learning. From various learning paradigms the Q-learning is particularly attractive. For efficient and successful use of Q-learning the proper definition and discretization of state space of environment and state space of robot, suitable choice of action set is essential, and also the set of states and actions should be as small as possible.

Keywords in English

mechatronics, walking robots, machine learning, Q-learning

RIV year

2003

Released

24.03.2003

Publisher

Institute of Mechanics of Solids Faculty of Mechanical Engineering Brno University of Technologi

Location

Brno

ISBN

80-214-2312-9

Book

Mechtronics, Robotics and Biomechanics 2003

Edition number

1

Pages count

2

BIBTEX


@inproceedings{BUT9743,
  author="Tomáš {Březina} and Pavel {Houška} and Vladislav {Singule},
  title="USING Q-LEARNING FOR FOUR-LEGGED ROBOT WALKING CONTROL",
  booktitle="Mechtronics, Robotics and Biomechanics 2003",
  year="2003",
  month="March",
  publisher="Institute of Mechanics of Solids
Faculty of Mechanical Engineering
Brno University of Technologi",
  address="Brno",
  isbn="80-214-2312-9"
}