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https://hdl.handle.net/1822/51621
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Campo DC | Valor | Idioma |
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dc.contributor.author | Teixeira, Carlos José Fortunas | por |
dc.contributor.author | Costa, Lino | por |
dc.contributor.author | Santos, Cristina | por |
dc.date.accessioned | 2018-03-06T14:14:43Z | - |
dc.date.issued | 2014 | - |
dc.identifier.isbn | 978-1-4799-4253-4 | - |
dc.identifier.issn | 2573-9360 | por |
dc.identifier.uri | https://hdl.handle.net/1822/51621 | - |
dc.description.abstract | An approach addressing biped locomotion optimization is here introduced. Concepts from Central Pattern Generators (CPGs) and Dynamic Movement Primitives (DMPs) were combined to easily produce complex trajectories for the joints of a simulated DARwIn-OP. A Reinforcement Learning Algorithm, Policy Learning by Weighting Exploration with the Returns (PoWER), was implemented to improve the robot's locomotion through exploration and evaluation of the DMPs' weights. Maximization of the DARwIn-OP's frontal velocity while performing several tasks was addressed and results show velocities up to 0.25 m / s. The Stability and Harmony metrics were included in the evaluation and both charateristics were improved by the PoWER algorithm. The results are very promising and demonstrate the approach's flexibility at generating or adapting trajectories for locomotion. | por |
dc.description.sponsorship | This work is funded by FEDER Funding supported by the Operational Program Competitive Factors - COMPETE and National Funding supported by the FCT - Portuguese Science Foundation through scholarship UMINHO/BI/69/2013 inserted in project PTDC/EEACRO/100655/2008. | por |
dc.language.iso | eng | por |
dc.publisher | IEEE | por |
dc.relation | info:eu-repo/grantAgreement/FCT/5876-PPCDTI/100655/PT | por |
dc.rights | restrictedAccess | por |
dc.subject | Reinforcement Learning | por |
dc.subject | Policy Improvement | por |
dc.subject | Biped Locomotion | por |
dc.subject | Dynamic Movement Primitives | por |
dc.subject | Biped Locomotion and Dynamic Movement Primitives | por |
dc.title | Biped locomotion - improvement and adaptation | por |
dc.type | conferencePaper | por |
dc.peerreviewed | yes | por |
oaire.citationStartPage | 110 | por |
oaire.citationEndPage | 115 | por |
oaire.citationConferencePlace | Espinho, Portugal | por |
dc.date.updated | 2018-02-19T09:56:11Z | - |
dc.identifier.doi | 10.1109/ICARSC.2014.6849771 | por |
dc.description.publicationversion | info:eu-repo/semantics/publishedVersion | por |
dc.subject.wos | Science & Technology | - |
sdum.export.identifier | 2817 | - |
sdum.journal | IEEE International Conference on Autonomous Robot Systems and Competitions | por |
sdum.conferencePublication | 2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2014) | por |
sdum.bookTitle | 2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2014) | por |
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