Publication detail

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

Original Title

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Type

conference paper

Language

English

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.

Keywords

mechatronics, walking robots, machine learning, Q-learning

Authors

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

RIV year

2003

Released

24. 9. 2003

Location

Košice, SK

ISBN

80-89061-77-X

Book

Electrical Drives and Power Electronics 2003

Edition

Neuveden

Edition number

Neuveden

Pages from

211

Pages to

216

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",
  series="Neuveden",
  volume="Neuveden",
  number="Neuveden",
  pages="6",
  address="Košice, SK",
  isbn="80-89061-77-X"
}