Engineering Mechanics

International Conference

Proceedings Vol. 8 (2002)



May 13 – 16, 2002, Svratka, Czech Republic
Editors: Lubomír Houfek, Pavel Hlavoň, Petr Krejčí

Copyright © 2002 Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Bruno University of Technology, Brno

ISBN 80-214-2109-6 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

Learning based control system of four-legged robot
Tomáš Březina, Pavel Houška, Vladislav Singule
pages 9 - +8p., full text

Possible discretization technique oj the continuous state space oj Jour-Iegged robot using simultaneous compositions oj behaviors is described in this contribution. Compositions are generated by the instances oj two basic controllers. The aim is to automatically develop the gait policy. Possible composition strategies are implemented through undeterministic state machine. In the machine design stage the number oj both machine states and transitions could be essetially reduced using Jormal considerations only. Furthermore machine transitions are evaluated by selected alternative oj Q-Iearning to incrementally improve the estimation oj the Juture benefit Jrom single transitions. This technique results in simultaneous activations oj controller compositions instances with the highest estimatio n oj the Juture benefit.

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Text and facts may be copied and used freely, but credit should be given to these Proceedings.

All papers were reviewed by members of the scientific committee.

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