Publication detail

Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

Original Title

Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL

Type

conference paper

Language

English

Original Abstract

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 unpredictable cases 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 compositions 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.

Keywords

mechatronics, walking robots, machine learning, Q-learning

Authors

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

RIV year

2003

Released

18. 6. 2003

Publisher

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

Location

Trenčín, SK

ISBN

80-88914-92-2

Book

Proceedings of 6th international symposium on Mechatronics

Edition number

1

Pages from

66

Pages to

69

Pages count

4

BibTex

@inproceedings{BUT7886,
  author="Tomáš {Březina} and Pavel {Houška} and Vladislav {Singule}",
  title="Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL",
  booktitle="Proceedings of 6th international symposium on Mechatronics",
  year="2003",
  number="1",
  pages="4",
  publisher="Alexander Dubček University of Trenčín, Faculty of Mechatronics, Trenčín, SLOVAKIA",
  address="Trenčín, SK",
  isbn="80-88914-92-2"
}