An efficient decentralized learning by exploiting biarticular muscles - A case study with a 2D serpentine robot

Wataru Watanabe, Takahide Sato, Akio Ishiguro

研究成果: Conference contribution

抄録

This study is intended to deal with the interplay between control and mechanical systems, and to discuss the "brain-body interaction as it should be" particularly from the viewpoint of learning. To this end, we have employed a decentralized control of a two-dimensional serpentine robot consisting of several identical body segments as a practical example. The preliminary simulation results derived indicate that the convergence of decentralized learning of locomotion control can be significantly improved even with an extremely simple learning algorithm, i.e., a gradient method, by introducing biarticular muscles compared to the one only with monoarticular muscles. This strongly suggests the fact that a certain amount of computation should be offloaded from the brain into its body, which allows robots to emerge various interesting functionalities.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ3826-3831
ページ数6
DOI
出版ステータスPublished - 2008
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5 192008 5 23

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
国/地域United States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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