Proceedings Vol. 8 (2002)
INŽENÝRSKÁ MECHANIKA 2002
ENGINEERING MECHANICS 2002
May 13 – 16, 2002, Svratka, Czech Republic
Copyright © 2002 Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Bruno University of Technology, Brno
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
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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