Publication detail

USAGE OF LEARNING IN FOUR-LEGGED ROBOT CONTROL

BŘEZINA, T. HOUŠKA, P. SINGULE, V.

Original Title

USAGE OF LEARNING IN FOUR-LEGGED ROBOT CONTROL

Type

conference paper

Language

English

Original Abstract

The report describes a possible method of discretization of the continuous status space of the four-legged robot using simultaneous compositions of effects of basic control elements. The compositions are activated from a non-deterministic terminal automatic machine. In the design stage it is possible to use simple considerations for significant limitation of the number of statuses of the terminal automatic machines and the number of possible simultaneous compositions. The valuation of transfers of the terminal automatic machine corresponds with compositions of control elements. For such a prepared scheme of transfers there is applied the variant of Q-learning so as to gradually specify the estimation of the future benefit from individual transfers and so as there are activated the simultaneous compositions of control elements with the maximal estimation of future benefit.

Keywords

Reinforcement learning, Q-learning, control of robots

Authors

BŘEZINA, T.; HOUŠKA, P.; SINGULE, V.

RIV year

2002

Released

24. 9. 2002

Publisher

Trenčianská univerzita Alexandra Dubčeka v Trenčíně

Location

Trenčín

ISBN

80-88914-73-6

Book

SEKEL 2002

Edition number

1

Pages from

87

Pages to

90

Pages count

4

BibTex

@inproceedings{BUT9662,
  author="Tomáš {Březina} and Pavel {Houška} and Vladislav {Singule}",
  title="USAGE OF LEARNING IN FOUR-LEGGED ROBOT CONTROL",
  booktitle="SEKEL 2002",
  year="2002",
  number="1",
  pages="4",
  publisher="Trenčianská univerzita Alexandra Dubčeka v Trenčíně",
  address="Trenčín",
  isbn="80-88914-73-6"
}