1A1-M06 強化学習を用いた大車輪ロボットの学習の汎化性に関する考察(進化・学習とロボティクス)

概要

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We have studied a giant swing robot whose giant swing motion can be obtained simply by applying Q learning method as one of reinforcement learning methods. In this study, we focused on learning generalization that is a problem whether a robot can choose one rotational direction. In our previous studies, it was successful that the real robot can't acquire backward rotation but forward rotation. This paper clarifies whether learning generalization can apply both forward and backward rotation on the simulation base. Learning simulation experiments take place in the various conditions like rewards, actions after rotations and learning system. As a results, it becomes obvious that trend of rotational direction can be controlled to some extent.
一般社団法人日本機械学会の論文
2011-05-26