On-line learning of a feedback controller for quasi-passive-dynamic walking by a stochastic policy gradient method

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 3803-3808

  Hitomi, Kentarou ^a   Shibata, Tomohiro ^a,b,c   Nakamura, Yutaka ^a,b   Ishii, Shin ^a,b  

^a NARA INSTITUTE OF SCIENCE AND TECHNOLOGY   (Japan)

^b JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^c ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

2D biped; Adaptive control; Passive dynamic walk; Reinforcement learning

Indexed keywords

CONTROLLERS; ENERGY UTILIZATION; FEEDBACK CONTROL; GRADIENT METHODS; INTELLIGENT ROBOTS; MACHINE LEARNING; REINFORCEMENT LEARNING; STOCHASTIC SYSTEMS;

2D BIPED; ADAPTIVE CONTROL; FEEDBACK CONTROLLER; INITIAL CONDITIONS; PASSIVE DYNAMIC WALKING; PASSIVE DYNAMICS; POLICY GRADIENT REINFORCEMENT LEARNING; STOCHASTIC POLICY;

E-LEARNING;

EID: 79957983466     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545258     Document Type: Conference Paper

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