The study on optimal gait for five-legged robot with reinforcement learning

Adnan Rachmat Anom Besari, Ruzaidi Zamri, Anton Satria Prabuwono, Son Kuswadi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    7 Citations (Scopus)

    Abstract

    The research of legged robot was rapidly developed. It can be seen from recent ideas about new systems of robot movement that take ideas from nature, called biology inspired. This type of robot begins replacing wheeled robot with various functions and interesting maneuvers ability. However, designers should decide how many legs are required to realize the ideas. One of the ideas that are rarely developed is odd number of legs. This research focused on five legs robot that inspired from starfish. To realize the intelligent system in robot that does not depend on the model, this research used reinforcement learning algorithm to find the optimal gait when robot is walking. In order to achieve this goal, trial and error have been used to provide learning through an interaction between robot and environment based on a policy of reward and punishment. The algorithm is successfully implemented to get the optimal gait on a five-legged robot.

    Original languageEnglish
    Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Pages1170-1175
    Number of pages6
    Volume5928 LNAI
    DOIs
    Publication statusPublished - 2009
    Event2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009 - Singapore
    Duration: 16 Dec 200918 Dec 2009

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume5928 LNAI
    ISSN (Print)03029743
    ISSN (Electronic)16113349

    Other

    Other2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009
    CitySingapore
    Period16/12/0918/12/09

    Fingerprint

    Legged Robots
    Reinforcement learning
    Gait
    Reinforcement Learning
    Robot
    Robots
    Trial and error
    Odd number
    Intelligent Systems
    Reward
    Biology
    Learning Algorithm
    Intelligent systems
    Learning algorithms
    Interaction

    Keywords

    • Five-legged robot
    • Gait optimizing
    • Reinforcement learning

    ASJC Scopus subject areas

    • Computer Science(all)
    • Theoretical Computer Science

    Cite this

    Besari, A. R. A., Zamri, R., Prabuwono, A. S., & Kuswadi, S. (2009). The study on optimal gait for five-legged robot with reinforcement learning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5928 LNAI, pp. 1170-1175). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5928 LNAI). https://doi.org/10.1007/978-3-642-10817-4_114

    The study on optimal gait for five-legged robot with reinforcement learning. / Besari, Adnan Rachmat Anom; Zamri, Ruzaidi; Prabuwono, Anton Satria; Kuswadi, Son.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5928 LNAI 2009. p. 1170-1175 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5928 LNAI).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Besari, ARA, Zamri, R, Prabuwono, AS & Kuswadi, S 2009, The study on optimal gait for five-legged robot with reinforcement learning. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 5928 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5928 LNAI, pp. 1170-1175, 2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009, Singapore, 16/12/09. https://doi.org/10.1007/978-3-642-10817-4_114
    Besari ARA, Zamri R, Prabuwono AS, Kuswadi S. The study on optimal gait for five-legged robot with reinforcement learning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5928 LNAI. 2009. p. 1170-1175. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-642-10817-4_114
    Besari, Adnan Rachmat Anom ; Zamri, Ruzaidi ; Prabuwono, Anton Satria ; Kuswadi, Son. / The study on optimal gait for five-legged robot with reinforcement learning. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5928 LNAI 2009. pp. 1170-1175 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
    @inproceedings{f4c3fa5b72eb49f59fb7dd2909ad8212,
    title = "The study on optimal gait for five-legged robot with reinforcement learning",
    abstract = "The research of legged robot was rapidly developed. It can be seen from recent ideas about new systems of robot movement that take ideas from nature, called biology inspired. This type of robot begins replacing wheeled robot with various functions and interesting maneuvers ability. However, designers should decide how many legs are required to realize the ideas. One of the ideas that are rarely developed is odd number of legs. This research focused on five legs robot that inspired from starfish. To realize the intelligent system in robot that does not depend on the model, this research used reinforcement learning algorithm to find the optimal gait when robot is walking. In order to achieve this goal, trial and error have been used to provide learning through an interaction between robot and environment based on a policy of reward and punishment. The algorithm is successfully implemented to get the optimal gait on a five-legged robot.",
    keywords = "Five-legged robot, Gait optimizing, Reinforcement learning",
    author = "Besari, {Adnan Rachmat Anom} and Ruzaidi Zamri and Prabuwono, {Anton Satria} and Son Kuswadi",
    year = "2009",
    doi = "10.1007/978-3-642-10817-4_114",
    language = "English",
    isbn = "3642108164",
    volume = "5928 LNAI",
    series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
    pages = "1170--1175",
    booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

    }

    TY - GEN

    T1 - The study on optimal gait for five-legged robot with reinforcement learning

    AU - Besari, Adnan Rachmat Anom

    AU - Zamri, Ruzaidi

    AU - Prabuwono, Anton Satria

    AU - Kuswadi, Son

    PY - 2009

    Y1 - 2009

    N2 - The research of legged robot was rapidly developed. It can be seen from recent ideas about new systems of robot movement that take ideas from nature, called biology inspired. This type of robot begins replacing wheeled robot with various functions and interesting maneuvers ability. However, designers should decide how many legs are required to realize the ideas. One of the ideas that are rarely developed is odd number of legs. This research focused on five legs robot that inspired from starfish. To realize the intelligent system in robot that does not depend on the model, this research used reinforcement learning algorithm to find the optimal gait when robot is walking. In order to achieve this goal, trial and error have been used to provide learning through an interaction between robot and environment based on a policy of reward and punishment. The algorithm is successfully implemented to get the optimal gait on a five-legged robot.

    AB - The research of legged robot was rapidly developed. It can be seen from recent ideas about new systems of robot movement that take ideas from nature, called biology inspired. This type of robot begins replacing wheeled robot with various functions and interesting maneuvers ability. However, designers should decide how many legs are required to realize the ideas. One of the ideas that are rarely developed is odd number of legs. This research focused on five legs robot that inspired from starfish. To realize the intelligent system in robot that does not depend on the model, this research used reinforcement learning algorithm to find the optimal gait when robot is walking. In order to achieve this goal, trial and error have been used to provide learning through an interaction between robot and environment based on a policy of reward and punishment. The algorithm is successfully implemented to get the optimal gait on a five-legged robot.

    KW - Five-legged robot

    KW - Gait optimizing

    KW - Reinforcement learning

    UR - http://www.scopus.com/inward/record.url?scp=76649093333&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=76649093333&partnerID=8YFLogxK

    U2 - 10.1007/978-3-642-10817-4_114

    DO - 10.1007/978-3-642-10817-4_114

    M3 - Conference contribution

    AN - SCOPUS:76649093333

    SN - 3642108164

    SN - 9783642108167

    VL - 5928 LNAI

    T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

    SP - 1170

    EP - 1175

    BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

    ER -