2A1-L04 仮想目標切替パタンの探索によるダイナミック多自由度運動の学習(進化・学習とロボティクス)

概要

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We propose a novel method for learning dynamic multi-DOF motion with fewer trials and less pre-specified knowledge about the tasks. It is a combination of a motion representation called Virtual Goal Switching Pattern, and a search method consisting of initial random exploration followed by hill-climbing. The Virtual Goal Switching Pattern consists of a controller, some phases and goal-postures for each phase. Both of the intervals of the phases and the goal-posture parameters are searched. This method was applied to 4 learning tasks: a targeted throwing motion with a 3-link arm, a jumping motion, a Roll-and-Rise motion, and a throwing motion with a bendable arm. In these experiments, dynamic multi-DOF motions were acquired quickly (less than 1000 trials). Several interesting related phenomena are also observed.
一般社団法人日本機械学会の論文
2007-05-11