Detail publikačního výsledku

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

Originální název

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Anglický název

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.

Anglický abstrakt

The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.

Klíčová slova

mechatronics, walking robots, machine learning, Q-learning

Klíčová slova v angličtině

mechatronics, walking robots, machine learning, Q-learning

Autoři

BŘEZINA, T., HOUŠKA, P., SINGULE, V.

Vydáno

24.09.2003

Místo

Košice, SK

ISBN

80-89061-77-X

Kniha

Electrical Drives and Power Electronics 2003

Edice

Neuveden

Svazek

Neuveden

Strany od

211

Strany počet

6

BibTex

@inproceedings{BUT8151,
  author="Tomáš {Březina} and Pavel {Houška} and Vladislav {Singule}",
  title="THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS",
  booktitle="Electrical Drives and Power Electronics 2003",
  year="2003",
  series="Neuveden",
  volume="Neuveden",
  number="Neuveden",
  pages="6",
  address="Košice, SK",
  isbn="80-89061-77-X"
}