Study on Movement-Pattern Acquisition of Biological Robot using Reinforcement Learning from Evolutional viewpoint

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This study clarifies movement-pattern acquisitions of biological robots using reinforcement learning method from evolutionary view point. By comparison between an insect and a reptile, a vertebral column gives essential factor to realize forward movements with small energy consumption. As for a mammal, symmetric condition of its movement-pattern decrease number of forward movement-patterns with small energy consumption. Next, visualization method of motion-pattern with probability clarifies relation between various rewards and success of giant swing for giant swing robot without Markov property. Finally, subjective rewards gives better performance than that of objective rewards because human being can estimate a sequence of movement-pattern form past to future although objective reward is obtained from a present condition.