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AAAI
2004

Machine Learning for Fast Quadrupedal Locomotion

13 years 5 months ago
Machine Learning for Fast Quadrupedal Locomotion
For a robot, the ability to get from one place to another is one of the most basic skills. However, locomotion on legged robots is a challenging multidimensional control problem. This paper presents a machine learning approach to legged locomotion, with all training done on the physical robots. The main contributions are a specification of our fully automated learning environment and a detailed empirical comparison of four different machine learning algorithms for learning quadrupedal locomotion. The resulting learned walk is considerably faster than all previously reported hand-coded walks for the same robot platform.
Nate Kohl, Peter Stone
Added 30 Oct 2010
Updated 30 Oct 2010
Type Conference
Year 2004
Where AAAI
Authors Nate Kohl, Peter Stone
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