1A1-K04 Study on Reinforcement Learning-Based Running Control for Four-Legged Robot(Evolution and Learning for Robotics)

In recent years, various robots have been developed as technology has advanced, operating not only in factories but also in places like homes and cities. However, many of those robots are fundamentally set up to repeat the same operation, and have difficulty with environmental changes and unexpected situations. Reinforcement learning is a method of solving this problem. Reinforcement learning is one of the machine learning methods. The learning is a technique of finding an optimal behavior pattern with respect to the target depending on the circumstances and environment by repeating trial and error. In this study, we applied reinforcement learning to a robot modeled on a four-legged animal and examined whether the robot could attain running behavior.