Quadruped robot obstacle negotiation via reinforcement learning

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 3003-3010

  Lee, Honglak ^a,b   Shen, Yirong ^a   Yu, Chih Han ^c   Singh, Gurjeet ^a   Ng, Andrew Y ^a  

^a Stanford University   (United States)

^b STANFORD UNIVERSITY   (United States)

^c HARVARD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

HIGH LEVEL CONTROLLERS; LOW LEVEL CONTROLLERS; QUADRUPED ROBOT OBSTACLE NEGOTIATION; REINFORCEMENT LEARNING;

ALGORITHMS; FUNCTION EVALUATION; HIERARCHICAL SYSTEMS; PROBLEM SOLVING; ROBOT LEARNING;

MOTION PLANNING;

EID: 33845646031     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642158     Document Type: Conference Paper

References (35)

1. S. Hirose, A. Nagabuko, and R. Toyama, "Machine that can walk and climb on floors, walls, and ceilings," in International Conference on Advanced Robotics, Pisa,Italy, 1991.
2. S. Hirose, K. Yoneda, and H. Tsukagoshi, "Titan vii: Quadruped walking and manipulating robot on a steep slope," in International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, 1997.
3. S. Bai, K. H. Low, G. Seet, and T. Zielinska, "A new free gait generation for quadrupeds based on primary/secondary gait," in International Conference on Robotics and Automation, 1999, pp. 1371-1376.
4. H. Kimura and Y. Fukuoka, "Adaptive dynamic walking of the quadruped on irregular terrain - autonomous adaptation using neural system model," in International Conference on Robotics and Automation, 2000, pp. 436-443.
5. H. Kimura, Y. Fukuoka, Y. Hada, and K. Takase, "Three-dimensional adaptive dynamic walking of a quadruped - rolling motion feedback to cpgs controlling pitching motion," in International Conference on Robotics and Automation, 2002, pp. 2228-2233.
6. Y. Fukuoka, H. Kimura, Y. Hada, and K. Takase, "Adaptive dynamic walking of a quadruped robot 'tekken' on irregular terrain using a neural system model," in International Conference on Robotics and Automation, 2003, pp. 2037-2042.
7. S. Peng, C. Lani, and G. Cole, "A biologically inspired four legged walking robot," in International Conference on Robotics and Automation, 2003, pp. 2024-2030.
8. Z. Zhang, Y. Fukuoka, and H. Kimura, "Adaptive running of a quadruped robot on irregular terrain based on biological concepts," in International Conference on Robotics and Automation, 2003, pp. 2043-2048.
9. E. Z. Moore and M. Buehler, "Stable stair climbing in a simple hexapod," in International Conference on Climbing and Walking Robots, Karlsruhe, Germany, 2001, pp. 603-610.
10. E. Z. Moore, D. Campbell, F. Grimminger, and M. Buehler, "Reliable stair climbing in the simple hexapod rhex," in International Conference on Robotics and Automation, vol. 3, Washington, D.C., U.S.A. 2002, pp. 2222-2227.
11. M. H. Raibert, Legged Robots that Balance. Cambridge, MA: MIT Press, 1986.
12. I. Poulakakis, J. A. Smith, and M. Buehler, "Experimentally validated bounding models for scout ii quadrupedal robot," in International Conference on Robotics and Automation, New Orleans, LA, USA, 2004, pp. 825-830.
13. T. Bretl, S. Rock, J. Latombe, B. Kennedy, and H. Aghazarian, "Free-climbing with a multi-use robot," in 9th Int. Symp. on Experimental Robotics, Singapore, 2004.
14. J. Morimoto and C. Atkeson, "Minimax differential dynamic programming:an application to robust biped walking," in Neural Information Processing Systems Conference, 2002.
15. J. Bagnell, S. Kakade, A. Ng, and J. Schneider, "Policy search by dynamic programming," in Neural Information Processing Systems Conference, Vancouver, Canada, 2003.
16. N. Kohl and P. Stone, "Machine learning for fast quadrupedal locomotion," in National Conference on Artificial Intelligence, San Jose, California, USA, 2004.
17. H. Kim, T. Kang, V. G. Loc, and H. R. Choi, "Gait planning of quadruped walking and climbing robot for locomotion in 3d environment," in International Conference on Robotics and Automation, 2005.
18. J. Chestnutt, J. Kuffner, K. Nishiwaki, and S. Kagami, "Planning biped navigation strategies in complex environments," in International Conference on Humanoid Robots, 2003.
19. R. Sutton, D. Precup, and S. Singh, "Intra-option learning about temporally abstract actions," in International Conference on Machine Learning, 1998, pp. 556-564.
20. M. Hauskrecht, N. Meuleau, C. Boutilier, L. P. Kaelbling, and T. Dean, "Hierarchical solution of markov decision processes using macroactions," in Conference on Uncertainty in Artificial Intelligence, 1998.
21. R. Parr and S. Russell, "Reinforcement learning with hierarchies of machines," in Neural Information Processing Systems Conference, 1998.
22. T. G. Dietterich, "Hierarchical reinforcement learning with the maxq value function decomposition," Journal of Artificial Intelligence Research, vol. 13, pp. 227-303, 1999.
23. A. Y. Ng and M. I. Jordan, "Pegasus: A policy search method for large mdps and pomdps," in Conference on Uncertainty in Artificial Intelligence, 2000, pp. 406-415.
24. J. Craig, Introduction to Robotics: Mechanics and Control, 2nd ed. Addison- Wesley Longman Publishing, 1989.
25. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," International Journal of Robotics Research, vol. 5, no. 1, pp. 90-98, 1986.
26. O. Brock, O. Khatib, and S. Viji, "Task-consistent obstacle avoidance and motion behavior for mobile manipulation," in International Conference on Robotics and Automation, Washington, USA, 2002.
27. C. D. Medio and G. Oriolo, "Robot obstacle avoidance using vortex fields," in Advances in Robot Kinematics, S. Stifter and J. Lenarcic, Eds. Springer-Verlag, 1991, pp. 227-235.
28. O. Khatib, "Inertial properties in robotics manipulation: An object-level framework," International Journal of Robotics Research, vol. 14, no. 1, pp. 19-36, February 1995.
29. R. S. Sutton and A. G. Barto, Reinforcement Learning. MIT Press, 1998.
30. V. N. Vapnik, Statistical Learning Theory. John Wiley & Sons, 1998.
31. P. McCullagh and J. A. Nelder, Generalized Linear Models (second edition). Chapman and Hall, 1989.
32. L. C. Baird, "Residual algorithms: Reinforcement learning with function approximation," in International Conference on Machine Learning, 1995.
33. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge University Press, 2004.
34. S. Davies, A. Y. Ng, and A. Moore, "Applying online-search to rein-forcement learning," in National Conference on Artificial Intelligence, 1998.
35. S. M. LaValle and J. J. Kuffner, "Randomized kinodynamic planning," in International Conference on Robotics and Automation, Detroit, Michigan, USA, 1999.