Detail publikace

Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

Originální název

Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

mechatronics, walking robots, machine learning, Q-learning

Autoři

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

Rok RIV

2003

Vydáno

18. 6. 2003

Nakladatel

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

Místo

Trenčín, SK

ISBN

80-88914-92-2

Kniha

Proceedings of 6th international symposium on Mechatronics

Číslo edice

1

Strany od

66

Strany do

69

Strany počet

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"
}