000000803 001__ 803
000000803 005__ 20141118153515.0
000000803 04107 $$acze
000000803 046__ $$k2002-05-13
000000803 100__ $$aBřezina, Tomáš
000000803 24500 $$aLEARNING BASED CONTROL SYSTEM OF FOUR-LEGGED ROBOT
000000803 24630 $$n8.$$pEngineering Mechanics 2002
000000803 260__ $$bInstitute of Mechanics and Solids, FME, TU Brno
000000803 506__ $$arestricted
000000803 520__ $$2cze$$aAbstrakt: 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.
000000803 520__ $$2eng$$aAbstract: 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.
000000803 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000000803 7112_ $$aEngineering Mechanics 2002$$cSvratka (CZ)$$d2002-05-13 / 2002-05-16$$gEM2002
000000803 720__ $$aBřezina, Tomáš$$iSingule, Vladislav$$iHouška, Pavel
000000803 8560_ $$ffischerc@itam.cas.cz
000000803 8564_ $$s147603$$uhttps://invenio.itam.cas.cz/record/803/files/Brezinal.pdf$$y
             Original version of the author's contribution as presented on CD, .
            
000000803 962__ $$r451
000000803 980__ $$aPAPER