Improvement of learning efficiency by exploiting multiarticular muscles - A case study with a 2D serpentine robot

Wataru Watanabe, Akio Ishiguro

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This study is intended to deal with the interdependency between control and body systems, and to discuss the "brain-body interaction as it should be" particularly from the viewpoint of learning, by borrowing the idea from the "protein folding problem". As a practical example, we demonstrate decentralized control of a 2D serpentine robot consisting of several identical body segments. The preliminary 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 brain to 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SICE Annual Conference, SICE 2007
ページ2155-2160
ページ数6
DOI
出版ステータスPublished - 2007 12月 1
イベントSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
継続期間: 2007 9月 172007 9月 20

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
国/地域Japan
CityTakamatsu
Period07/9/1707/9/20

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「Improvement of learning efficiency by exploiting multiarticular muscles - A case study with a 2D serpentine robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル