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학습 알고리즘을 이용한 4 족 로봇의 안정적인 트롯 보행 구현
- Issue Date
- Nov-2011
- Publisher
- 대학기계학회
- Keywords
- Quadruped(4 족보행로봇); Trot(종종걸음); Reinforcement learning(강화학습법); Elliptical trajectory(타원궤적)
- Citation
- 대학기계학회 2011년도 추계학술대회 강연 및 논문 초록집, no. , pp.817 - 820
- Indexed
- OTHER
- Journal Title
- 대학기계학회 2011년도 추계학술대회 강연 및 논문 초록집
- Start Page
- 817
- End Page
- 820
- Abstract
- In this paper, stable trot motion of quadruped using PG-RL Algorithm is investigated. parameterize elliptical trajectory is used in this research. To realize stable trot motion, change of angle is estimated and the action of the quadruped robot has been evaluated with score of an objective function. simulation of algorithm shows the PG-RL algrithm minimizes the change of the body oirentation.
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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Related Researcher
- Park, Jong Hyeon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)