Reinforced learning by the chaotic dynamics matching for robot control

• Project/Area Number: 19680012
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Single-year Grants
• Research Field: Sensitivity informatics/Soft computing
• Research Institution: Nagaoka University of Technology
• Principal Investigator: TSUBONE Tadashi Nagaoka University of Technology, 工学部・電気系, 准教授 (50334694)
• Project Period (FY): 2007 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥25,220,000 (Direct Cost: ¥19,400,000、Indirect Cost: ¥5,820,000); Fiscal Year 2009: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000); Fiscal Year 2008: ¥10,920,000 (Direct Cost: ¥8,400,000、Indirect Cost: ¥2,520,000); Fiscal Year 2007: ¥7,800,000 (Direct Cost: ¥6,000,000、Indirect Cost: ¥1,800,000)
• Keywords: カオティックダイナミクス整合 / ロボット制御 / 強化学習

Research Abstract

Chaotic dynamics matching which can be applied for a dynamics of the control systems with high-speed and flexibly according to the condition and the task based on the chaos theory is proposed. It achieves the reinforcement learning system that acquires the action autonomous. The following results were achieved. The attraction domain for the identification learning control parameter was theoretically analyzed and the availability of the design approach was shown. The control and the learning characteristic in a real robot were clarified. The possibility to use of human brain information to learning was verified.

Research Products

• [Journal Article] 極めて簡素な区分定数強制発振器にみられる同期現象 (2010)
  • Author(s): 坪根正, 稲葉真彦, 坪内孝司, 吉永哲哉
  • Journal Title: 電子情報通信学会論文誌A J99-A Pages: 375-383
  • NAID: 110008004247
  • Peer Reviewed
• [Journal Article] 極めて簡素な区分定数強制発振器にみられる同期現象 (2010)
  • Author(s): 坪根正, 稲葉真彦, 坪内孝司, 吉永哲哉
  • Journal Title: 電子情報通信学会論文誌A J99-A, 5 Pages: 375-383
  • NAID: 110008004247
  • Peer Reviewed
• [Journal Article] Stabilizing Unknown Periodic Orbits of a Chaotic Spiking Oscillator, IEICE Transactions on Fundamentals of Electronics (2009)
  • Author(s): Tadashi Tsubone, Yasuhiro Wada
  • Journal Title: Communications and Computer Sciences E92-A Pages: 1308-1315
  • Peer Reviewed
• [Journal Article] 近赤外分光法を用いた脳活動計測による動作肢の判別 (2009)
  • Author(s): 新出航, 坪根正, 和田安弘
  • Journal Title: 電子情報通信学会論文誌D J92-D, 9 Pages: 1632-1642
  • NAID: 110007361137
  • Peer Reviewed
• [Journal Article] Stabilizing Unknown Periodic Orbits of a Chaotic Spiking Oscillator (2009)
  • Author(s): Tadashi Tsubone and Yasuhiro Wada
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E92-A Pages: 1308-1315
  • NAID: 10026857596
  • Peer Reviewed
• [Journal Article] 仮想空間を利用した実空間のロボットのタスク学習 (2008)
  • Author(s): 坪根正, 栗本健一, 杉山晃一, 和田安弘
  • Journal Title: 電気学会論文誌C Vol.128,No.7 Pages: 1222-1230
  • NAID: 10021133321
  • Peer Reviewed
• [Journal Article] 仮想空間を利用した実空間のロボットのタスク学習 (2008)
  • Author(s): 坪根正, 栗本健一, 杉山晃一, 和田安弘
  • Journal Title: 電気学会論文誌C Vol.128 No.7 Pages: 1222-1230
  • NAID: 10021133321
  • Peer Reviewed
• [Journal Article] Chaos and Periodic Oscillation of a Multirate Sampled-Data Dynamical System, IEICE Transactions on Fundamentals of Electronics (2007)
  • Author(s): Tadashi Tsubone, Noriyoshi Kambayashi
  • Journal Title: Communications and Computer Sciences E90-A Pages: 1924-1931
  • Peer Reviewed
• [Journal Article] Robot task learning based on reinforcement learning in virtual space (2007)
  • Author(s): Tadashi Tsubone, Koichi Sugiyama, Yasuhiro Wada
  • Journal Title: Neural Information Processing - Letters and Reviews Vol.11No.7 Pages: 165-174
  • Peer Reviewed
• [Journal Article] Chaos and Periodic Oscillation of a Multirate Sampled-Data Dynamical System (2007)
  • Author(s): Tadashi Tsubone and Noriyoshi Kambayashi
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E90-A Pages: 1924-1931
  • NAID: 110007538106
  • Peer Reviewed
• [Journal Article] Robot task learning based on reinforcement learning in virtual space (2007)
  • Author(s): Tadashi Tsubone, Koichi Sugiyama and Yasuhiro Wada
  • Journal Title: Neural Information Processing-Letters and Reviews Vol.11No.7 Pages: 165-174
  • Peer Reviewed
• [Presentation] A Relation of NIRS signal and motor capability (2009)
  • Author(s): Masamichi Morihiro, Tadashi Tsubone, YasuhiroWada
  • Organizer: the 31th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: ミネアポリス,アメリカ
  • Year and Date: 2009-09-04
• [Presentation] A discrete-time control approach for stabilizing unknown steady state of chaotic spiking oscillators (2008)
  • Author(s): Tadashi Tsubone and Yasuhiro Wada
  • Organizer: 2008 IEEE Workshop on Nonlinear Circuit Networks
  • Place of Presentation: 徳島, 日本
  • Year and Date: 2008-12-06
• [Presentation] A discrete-time control approach for stabilizing unknown steady state of chaotic systems (2008)
  • Author(s): Tadashi Tsubone, Kenichi Kurimoto, Yasuhiro Wada
  • Organizer: The 2008 International Symposium on Nonlinear Theory and its Applications
  • Place of Presentation: ブダベスト, ハンガリー
  • Year and Date: 2008-09-09
• [Presentation] Possibility of reinforcement learning based on event-related potential (2008)
  • Author(s): Yuya Yamagishi, Tadashi Tsubone, and Yasuhiro Wada
  • Organizer: The 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: バンクーバー, カナダ
  • Year and Date: 2008-08-22
• [Presentation] 動的カオス制御法に基づいた倒立振子の安定化 (2008)
  • Author(s): 栗本健一, 坪根正, 和田安弘
  • Organizer: 第35回知能システムシンポジウム論文集
  • Place of Presentation: 東京
• [Presentation] Applicability to reinforcement signal of event-related potential (2008)
  • Author(s): Yuya Yamagishi
  • Organizer: The 22nd SICE Symposium on Biological and Physiological Engineering
  • Place of Presentation: 中国
• [Presentation] Task Learning Based on Reinforcement Learning in Virtual Environment (2007)
  • Author(s): Tadashi Tsubone, Kenichi Kurimoto, Koichi Sugiyama, Yasuhiro Wada
  • Organizer: The 15th International Conference on Neural Information Processing
  • Place of Presentation: 福岡
  • Year and Date: 2007-11-14
• [Presentation] A dynamic controller with instantaneous state setting method for chaotic systems (2007)
  • Author(s): Tadashi Tsubone, Yasuhiro Wada
  • Organizer: The 15th IEEE International Workshop on Nonlinear Dynamics of Electronic Systems
  • Place of Presentation: 徳島
  • Year and Date: 2007-06-24
• [Presentation] 仮想環境内学習システムを用いた実空間のロボットのタスク学習 (2007)
  • Author(s): 栗本健一, 杉山晃一, 坪根正, 和田安弘
  • Organizer: 第20回回路とシステム(軽井沢)ワークショップ予稿集
  • Place of Presentation: 長野
• [Presentation] Task Learning Based on Reinforcement Learningin Virtual Environment (2007)
  • Author(s): Tadashi Tsubone
  • Organizer: The 15th International Conference on Neural Information Processing
  • Place of Presentation: 日本
• [Presentation] A dynamic controller with instantaneous state setting method for chaotic systems (2007)
  • Author(s): Tadashi Tsubone
  • Organizer: The 15th IEEE International Workshop on Nonlinear Dynamics of Electronic Systems
  • Place of Presentation: 日本