DYNAMIC CONTROL DEVICE AND BIPEDAL WALKING BODY USING THE SAME

摘要

PPROBLEM TO BE SOLVED: To provide a dynamic control device which can facilitate learning of a status observer to periodic motion by imparting an internal state and dynamics to a controller. PSOLUTION: A feedback controller 1022 updates feedback parameters based on reward series obtained during enhanced learning by value function based on a status information of a control object in the dynamic control device 100. A central pattern generator (CPG) 1026 has the internal condition to carry out periodic time development and generates a control signal u based on the internal state which varies according to output from the feedback controller 1022. PCOPYRIGHT: (C)2005,JPO&NCIPI