Title:
DYNAMIC CONTROL DEVICE AND BIPEDAL WALKING BODY USING THE SAME
Document Type and Number:
Japanese Patent JP2005199383
Kind Code:
A
Abstract:
To provide a dynamic control device which can facilitate learning of a status observer to periodic motion by imparting an internal state and dynamics to a controller.
A feedback controller 1022 updates feedback parameters based on reward series obtained during enhanced learning by value function based on a status information of a control object in the dynamic control device 100. A central pattern generator (CPG) 1026 has the internal condition to carry out periodic time development and generates a control signal u based on the internal state which varies according to output from the feedback controller 1022.
Inventors:
MORIMOTO ATSUSHI
MATSUBARA TAKAMITSU
SATO MASAAKI
MATSUBARA TAKAMITSU
SATO MASAAKI
Application Number:
JP2004008130A
Publication Date:
July 28, 2005
Filing Date:
January 15, 2004
Export Citation:
Assignee:
SONY CORP
ATR ADVANCED TELECOMM RES INST
ATR ADVANCED TELECOMM RES INST
International Classes:
B25J5/00; B25J13/00; G06N3/00; (IPC1-7): B25J5/00; B25J13/00; G06N3/00
Other References:
JPN6010016912, 中村泰、石井信、佐藤正樹, "神経振動子ネットワークを用いた強化学習法による歩行運動の獲得", 電子情報通信学会技術研究報告, 20020318, Ｖｏｌ １０１， Ｎｏ． ７３５, ｐｐ． １８３−１９０, JP, 社団法人 電子情報通信学会
JPN6010016915, 森健、吉本潤一郎、石井信, "確率的方策勾配法に基づくａｃｔｏｒ−ｃｒｉｔｉｃ法と連続システムの制御への応用", 電子情報通信学会技術研究報告, 20030319, Ｖｏｌ． １０２， Ｎｏ． ７３１, ｐｐ． １３７−１４２, JP, 社団法人 電子情報通信学会
JPN6010016915, 森健、吉本潤一郎、石井信, "確率的方策勾配法に基づくａｃｔｏｒ−ｃｒｉｔｉｃ法と連続システムの制御への応用", 電子情報通信学会技術研究報告, 20030319, Ｖｏｌ． １０２， Ｎｏ． ７３１, ｐｐ． １３７−１４２, JP, 社団法人 電子情報通信学会
Attorney, Agent or Firm:
Kuro Fukami
Toshio Morita
Yoshihei Nakamura
Yutaka Horii
Hisato Noda
Masayuki Sakai
Toshio Morita
Yoshihei Nakamura
Yutaka Horii
Hisato Noda
Masayuki Sakai