Emergency-response locomotion of hexapod robot with heuristic reinforcement learning using Q-learning

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

1 Scopus Citations
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Author(s)

Related Research Unit(s)

Detail(s)

Original languageEnglish
Title of host publicationInteractive Collaborative Robotics
Subtitle of host publicationProceedings
EditorsAndrey Ronzhin, Gerhard Rigoll, Roman Meshcheryakov
PublisherSpringer Nature Switzerland AG
Pages320-329
ISBN (electronic)9783030261184
ISBN (print)9783030261177
Publication statusPublished - Aug 2019

Publication series

NameLecture Notes in Artificial Intelligence
Volume11659 LNAI
ISSN (Print)0302-9743
ISSN (electronic)1611-3349

Conference

Title4th International Conference on Interactive Collaborative Robotics (ICR 2019)
PlaceTürkiye
CityIstanbul
Period20 - 25 August 2019

Abstract

The locomotion of legged robot is often controlled by predefined gaits, and this approach works well when all joints and motors are operating normally. However, walking legged robots usually have high risk of being damaged during operation, causing the breakdown of the robotic joints. In this paper, we introduce a reinforcement learning based approach for the legged robot to generate real-time locomotion response to the emergence of locomotion breakdown. Our approach detects the functionality of the available joints, substitutes the pre-defined gaits with proper gait function accordingly, and upgrades the gait-generation function by Q-Learning for the proper locomotion.

Research Area(s)

  • Emergency response, Hexapod robot, Q-Learning, Reinforcement learning

Citation Format(s)

Emergency-response locomotion of hexapod robot with heuristic reinforcement learning using Q-learning. / Yang, Ming-Chieh; Samani, Hooman; Zhu, Kening.
Interactive Collaborative Robotics: Proceedings. ed. / Andrey Ronzhin; Gerhard Rigoll; Roman Meshcheryakov. Springer Nature Switzerland AG, 2019. p. 320-329 (Lecture Notes in Artificial Intelligence; Vol. 11659 LNAI).

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review