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Detail publikace
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
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" }