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Biological robot arm motion through reinforcement learning
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
The present paper discusses an optimal control method of biological robot arm which has redundancy of the mapping from the control input to the task goal. The control input space is divided into a couple of subspaces according to a priority order depending on the progress and stability of learning. In the proposed method, the search noise which is required for reinforcement learning is restricted within the first priority subspace. Then the constraint is relaxed with the progress of learning,doi:10.1109/robot.2002.1014236 dblp:conf/icra/IzawaKI02 fatcat:gcexfhnwjfa5pi7nyibtej6z2e