2020年5月
運動プリミティブを用いた強化学習による空気圧連続アームの投擲運動
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)
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- 巻
- 2020
- 号
- 開始ページ
- 1P2
- 終了ページ
- J05
- 記述言語
- 日本語
- 掲載種別
- DOI
- 10.1299/jsmermd.2020.1P2-J05
- 出版者・発行元
- 一般社団法人 日本機械学会
<p>Previous research on reinforcement learning for continuum robot arms have been dealt with a relatively small number of active degrees of freedom and made experiments of simple tasks such as reaching. We aimed to learn to throw a ball by reinforcement learning in a pneumatically-controlled continuum robot arm that has nine actuators. We adopt Cost-regularized Kernel Regression (CrKR) which uses dynamic movement primitives (DMPs) which is one of the movement primitives. In the simulation, the continuum arm was able to learn how to throw a ball forward. We made the same experiment for our real continuum robot arm and found that the learning progressed in the experiment.</p>
- リンク情報
- ID情報
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- DOI : 10.1299/jsmermd.2020.1P2-J05
- ISSN : 2424-3124
- J-Global ID : 202002222832156415
- CiNii Articles ID : 130007943713