Movies

Application to Motion Learning of Robots

The movies of this section are provided from the works by Yamaguchi et al.

Learning Jumping

The DCOB and the Peng's Q(lambda)-learning are used.

In the early stage of learning, the robot acts randomly because it learns from scratch (i.e. no prior knowledge).

After learning, the robot acquires a jumping motion.

Learning Crawling

The DCOB and the Peng's Q(lambda)-learning are used.

In the early stage of learning, the behavior of the robot is quite similar to the learning jumping case. This is because the robot also learns from scratch.

After learning, the robot acquires a crawling motion.

Crawling by a Real Robot

Application to a crawling task of a real spider robot (Bioloid, made by ROBOTIS).

This is a learning phase. The robot also learns from scratch (without simulation!).

After learning, the robot is successful to acquire a crawling motion (after around 30 minutes).

Another viewpoint: