Control of Real Robot Using QDSEGA-Extension of Layered Structure and Application to Snake-like Robot-
نویسندگان
چکیده
منابع مشابه
Control of hyper-redundant robot using QDSEGA
We consider a flexible autonomous system. To realize the system, we employ H?.per-rednndant system (It is flexible hardware systm) and Reinforcement learning controller "QDSEGA'; (It is a flexible software system). In this paper we apply QDSEGA to controlling of Hyper-redundant robot. To demonstrate the effectiveness, a task of acquisition of lmoniotion patterns is applied to a niulti-legged fo...
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Reinforcement learning is very effec#ive for robot learning. Because it does not need prior knowledge and has higher capability of reactive and adaptive behaviors. In our previous works, we proposed new reinforce learning algorithm: "Q-learning with Dynamic Structuring of Exploration Space Based on Genetic Algorithm (QDSEGA)". It is designed for complicated systems with large action-state space...
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WANG Yang, LI Bin, CHEN Li, LIN Chen (1. Robotics Lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016; 2. Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, China) Abstract: Research on snake-like robots expands the fields of application of robots. Based on CAN Bus technologies, we developed a control system for a snak...
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In the last paper, we proposed a winding and reaching control technique using a physical index of horizontal constraint force for a 3D snake-like robot. Using a snake like robot called SMA, the validity of the methods was shown experimentally. In this paper control methods in the last paper are summarized and a control method of an active impedance control of vertical joints is proposed for win...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2003
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.21.526