Reinforced learning by the chaotic dynamics matching for robot control

机器人控制的混沌动力学匹配强化学习

• 批准号: 19680012
• 负责人: TSUBONE Tadashi
• 金额: $ 16.14万
• 依托单位: Nagaoka University of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (A)
• 财政年份: 2007
• 资助国家: 日本
• 起止时间: 2007 至 2009
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-19680012/
• 关键词: カオティックダイナミクス整合; ロボット制御; 強化学習

Chaotic dynamics matching which can be applied for a dynamics of the control systems with high-speed and flexibly according to the condition and the task based on the chaos theory is proposed. It achieves the reinforcement learning system that acquires the action autonomous. The following results were achieved. The attraction domain for the identification learning control parameter was theoretically analyzed and the availability of the design approach was shown. The control and the learning characteristic in a real robot were clarified. The possibility to use of human brain information to learning was verified.

提出了一种基于混沌理论的混沌动力学匹配方法，可根据条件和任务高速、灵活地实现控制系统的动力学。它实现了获得动作自主的强化学习系统。取得了以下成果。对辨识学习控制参数的吸引域进行了理论分析，证明了该设计方法的有效性。阐明了真实机器人的控制和学习特性。验证了利用人脑信息进行学习的可能性。

项目成果

Stabilizing Unknown Periodic Orbits of a Chaotic Spiking Oscillator

稳定混沌尖峰振荡器的未知周期轨道

• 发表时间: 2009
• 期刊: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E92-A
• 作者: Munehisa Sekikawa;Takashi Kohno;Kazuyuki Aihara;Tadashi Tsubone and Yasuhiro Wada
• 通讯作者: Tadashi Tsubone and Yasuhiro Wada

Task Learning Based on Reinforcement Learning in Virtual Environment

虚拟环境中基于强化学习的任务学习

• 发表时间: 2007
• 作者: Tadashi Tsubone;Kenichi Kurimoto;Koichi Sugiyama;Yasuhiro Wada
• 通讯作者: Yasuhiro Wada

Chaos and Periodic Oscillation of a Multirate Sampled-Data Dynamical System, IEICE Transactions on Fundamentals of Electronics

多速率采样数据动力系统的混沌和周期性振荡，IEICE Transactions on Fundamentals of Electronics

• 发表时间: 2007
• 期刊: Communications and Computer Sciences E90-A
• 作者: Tadashi Tsubone;Noriyoshi Kambayashi
• 通讯作者: Noriyoshi Kambayashi

Stabilizing Unknown Periodic Orbits of a Chaotic Spiking Oscillator, IEICE Transactions on Fundamentals of Electronics

稳定混沌尖峰振荡器的未知周期轨道，IEICE 电子学基础汇刊

• 发表时间: 2009
• 期刊: Communications and Computer Sciences E92-A
• 作者: Tadashi Tsubone;Yasuhiro Wada
• 通讯作者: Yasuhiro Wada

A discrete-time control approach for stabilizing unknown steady state of chaotic spiking oscillators

稳定混沌尖峰振荡器未知稳态的离散时间控制方法

• 发表时间: 2008
• 作者: 河野(金兒)貴子;本田直樹;塚田祐基;山尾将隆;作村諭一;石井信;木賀大介;Tadashi Tsubone and Yasuhiro Wada
• 通讯作者: Tadashi Tsubone and Yasuhiro Wada