Reinforcement Learning of Fuzzy Logic Controllers for Quadruped Walking Robots

This paper presents a fuzzy logic controller (FLC) for the implementation of some behaviour of Sony legged robots. The adaptive heuristic Critic (AHC) reinforcement learning is employed to refine the FLC. The actor part of AHC is a conventional FLC in which the parameters of input membership functions are learned by an immediate internal reinforcement signal. This internal reinforcement signal comes from a prediction of the evaluation value of a policy and the external reinforcement signal. The evaluation value of a policy is learned by temporal difference (TD) learning in the critic part that is also represented by a FLC. A genetic algorithm (GA) is employed for learning internal reinforcement of the actor part because it is more efficient in searching than other trial and error search approaches. Copyright © 2002 IFAC