Dynamic gait pattern generation with reinforcement learning

Mustafa Suphi Erden, Kemal Leblebicioglu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the gait pattern generation work performed for the sixlegged robot EA308 developed in our laboratory. The aim is to achieve a dynamically developing gait pattern generation structure using reinforcement learning. For the six legged robot a simplified simulative model is constructed. The algorithm constructs a radial basis function neural network (RBFNN) to command proper leg configurations to the simulative robot. The weights of the RBFNN are learned using reinforcement learning. The developed structure succeeded in learning gait patterns compatible with different speeds of the robot.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages151-156
Number of pages6
Volume16
DOIs
Publication statusPublished - Dec 2005
Event16th Triennial World Congress of International Federation of Automatic Control - Prague, United Kingdom
Duration: 3 Jul 20058 Jul 2005

Conference

Conference16th Triennial World Congress of International Federation of Automatic Control
Abbreviated titleIFAC 2005
CountryUnited Kingdom
CityPrague
Period3/07/058/07/05

Fingerprint

Reinforcement learning
Robots
Neural networks

Keywords

  • Gait pattern
  • Radial basis function neural network
  • Reinforcement learning
  • Six-legged robot
  • Walking

Cite this

Erden, M. S., & Leblebicioglu, K. (2005). Dynamic gait pattern generation with reinforcement learning. In IFAC Proceedings Volumes (IFAC-PapersOnline) (Vol. 16, pp. 151-156) https://doi.org/10.3182/20050703-6-CZ-1902.01295
Erden, Mustafa Suphi ; Leblebicioglu, Kemal. / Dynamic gait pattern generation with reinforcement learning. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16 2005. pp. 151-156
@inproceedings{fee55ed412e040d39e92fddb1a22619c,
title = "Dynamic gait pattern generation with reinforcement learning",
abstract = "This paper presents the gait pattern generation work performed for the sixlegged robot EA308 developed in our laboratory. The aim is to achieve a dynamically developing gait pattern generation structure using reinforcement learning. For the six legged robot a simplified simulative model is constructed. The algorithm constructs a radial basis function neural network (RBFNN) to command proper leg configurations to the simulative robot. The weights of the RBFNN are learned using reinforcement learning. The developed structure succeeded in learning gait patterns compatible with different speeds of the robot.",
keywords = "Gait pattern, Radial basis function neural network, Reinforcement learning, Six-legged robot, Walking",
author = "Erden, {Mustafa Suphi} and Kemal Leblebicioglu",
year = "2005",
month = "12",
doi = "10.3182/20050703-6-CZ-1902.01295",
language = "English",
isbn = "008045108X",
volume = "16",
pages = "151--156",
booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

}

Erden, MS & Leblebicioglu, K 2005, Dynamic gait pattern generation with reinforcement learning. in IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 16, pp. 151-156, 16th Triennial World Congress of International Federation of Automatic Control, Prague, United Kingdom, 3/07/05. https://doi.org/10.3182/20050703-6-CZ-1902.01295

Dynamic gait pattern generation with reinforcement learning. / Erden, Mustafa Suphi; Leblebicioglu, Kemal.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16 2005. p. 151-156.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Dynamic gait pattern generation with reinforcement learning

AU - Erden, Mustafa Suphi

AU - Leblebicioglu, Kemal

PY - 2005/12

Y1 - 2005/12

N2 - This paper presents the gait pattern generation work performed for the sixlegged robot EA308 developed in our laboratory. The aim is to achieve a dynamically developing gait pattern generation structure using reinforcement learning. For the six legged robot a simplified simulative model is constructed. The algorithm constructs a radial basis function neural network (RBFNN) to command proper leg configurations to the simulative robot. The weights of the RBFNN are learned using reinforcement learning. The developed structure succeeded in learning gait patterns compatible with different speeds of the robot.

AB - This paper presents the gait pattern generation work performed for the sixlegged robot EA308 developed in our laboratory. The aim is to achieve a dynamically developing gait pattern generation structure using reinforcement learning. For the six legged robot a simplified simulative model is constructed. The algorithm constructs a radial basis function neural network (RBFNN) to command proper leg configurations to the simulative robot. The weights of the RBFNN are learned using reinforcement learning. The developed structure succeeded in learning gait patterns compatible with different speeds of the robot.

KW - Gait pattern

KW - Radial basis function neural network

KW - Reinforcement learning

KW - Six-legged robot

KW - Walking

U2 - 10.3182/20050703-6-CZ-1902.01295

DO - 10.3182/20050703-6-CZ-1902.01295

M3 - Conference contribution

SN - 008045108X

SN - 9780080451084

VL - 16

SP - 151

EP - 156

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

ER -

Erden MS, Leblebicioglu K. Dynamic gait pattern generation with reinforcement learning. In IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16. 2005. p. 151-156 https://doi.org/10.3182/20050703-6-CZ-1902.01295