Learning Method for Multi-Controller of Robot Behavior
スポンサーリンク
概要
- 論文の詳細を見る
In this paper, we propose a hierarchical behavior controller and a learning algorithm for the behavior controller which consists of several subcontrollers to indicate the desired trajectories for robot actuators.This algorithm selects the subcontroller which is not appropriate and needs to be tuned, by evaluating each subcontroller using multiple regression analysis based on previously obtained evaluation value.This process can reduce the learning iterations by avoiding attempts to tune good subcontrollers.The proposed algorithm is applied to the problem of selecting and tuning subcontrollers at the middle layer in the hierarchical behavior controller in order to compensate imperfect initial controllers.The hierarchical behavior controller is applied to the problem of controlling a seven-link brachiation robot, that moves dynamically from branch to branch like a gibbon, a long-armed ape, swinging its body like a pendulum.
- 一般社団法人日本機械学会の論文
- 1998-06-15
著者
-
Hasegawa Yasuhisa
Dept. Of Mechanical Systems Engineering Faculty Of Engineering Gifu University
-
Hasegawa Yasuhisa
Dept.of Micro System Engineering Nagoya University
-
Fukuda Toshio
Dept. Of Mech. Nagoya Univ.
-
Fukuda Toshio
Dept.of Micro System Engineering Nagoya University
-
Fukuda Toshio
Dept. Micro-Nano Sys. Eng., Nagoya Univ.:Center for Micro-Nano Mech., Nagoya Univ.
関連論文
- 2P313 ドロップレット中への生物時計再構成(非平衡・生体リズム,第48回日本生物物理学会年会)
- Electrostatic Actuator for Moving Cell in Distributed Microrobotic System
- Genetic Evolution and Self-Organization of Cellular Robotic System
- Hierarchical Hybrid Neuromorphic Control System for Robotic Manipulators
- Cell Recognition by Image Processing : Recognition of Dead or Living Plant Cells by Neural Network
- Mobile Mechanism Suitable for Rough Terrain Vehicle
- Application of Image Analysis with Neural Network for Plant Somatic Embryo Culture
- Flexibility Control of Solar Battery Arrays : 2nd Report, Vibration and Attitude Control Based on State Estimation of Differential Solar Cell Sensors
- Learning Method for Multi-Controller of Robot Behavior
- Self-Scaling Reinforcement Learning Algorithm for Generating Fuzzy Controller
- 2A2-2 Strategic Behavior Generation with Cognitive Distance in Two-Player Games
- 1PT229 バクテリア駆動マイクロギアの構築とトルク計測(日本生物物理学会第50回年会(2012年度))