CPGと強化学習を用いた多脚ロボットの目標到達行動の獲得

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2016/03/01

タイトル(英語): Acquisition of Goal-Oriented Behaviors for Multi-Legged Robots by CPG and Reinforcement Learning

著者名: 石倉　裕貴（奈良先端科学技術大学院大学 情報科学研究科），岸本　良一（松江工業高等専門学校），堀内　匡（松江工業高等専門学校）

著者名(英語): Yuki Ishikura (Graduate School of Information Science, Nara Institute of Science and Technology), Ryoichi Kishimoto (National Institute of Technology, Matsue College), Tadashi Horiuchi (National Institute of Technology, Matsue College)

キーワード: 六脚ロボット，四脚ロボット，CPG，強化学習，行動獲得　　Six-Legged Robot，Four-Legged Robot，CPG，Reinforcement Learning，Behavior Acquisition

要約(英語): The effectiveness of reinforcement learning for the real robots such as crawling robot and six-legged robot was demonstrated in our early studies. However, the acquired movements of those robots were the repetition of one step move and wait for observation at every time step. In other words, the acquired patterns were not smooth forward movements. In this paper, we realize that the multi-legged robots such as six-legged robot and four-legged robot acquire the smooth movements to the target direction and to reach the target area. In order to realize these tasks, we apply reinforcement learning to the multi-legged robots in which Central Pattern Generators (CPG) are implemented. CPG parameters to generate efficient walking patterns are optimized by using reinforcement learning. Through the experiments using the real multi-legged robots, we confirm the effectiveness of our method using CPG and reinforcement learning.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.136 No.3 （2016） 特集：機械学習が拓くシステムイノベーション

本誌掲載ページ: 333-339 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/136/3/136_333/_article/-char/ja/