Autonomous Control of Octopus-Like Manipulator Using Reinforcement Learning

Kuroe, So; Ito, Kazuyuki

doi:10.1007/978-3-642-28765-7_66

So Kuroe⁷ &
Kazuyuki Ito⁷

Part of the book series: Advances in Intelligent and Soft Computing ((AINSC,volume 151))

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Abstract

In this paper, we apply reinforcement learning to an octopus-like manipulator. We employ grasping and calling tasks. We show that by designing the manipulator to utilize properties of the real world, the state-action space can be abstracted, and the real-time learning and lack of generalization ability problems can be solved.

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Authors and Affiliations

Hosei University, 3-7-2, Kajino-chou Koganei, Tokyo, 184-8584, Japan
So Kuroe & Kazuyuki Ito

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So Kuroe
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Kazuyuki Ito
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Correspondence to So Kuroe .

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Editors and Affiliations

Dept. Computer Science &, Intelligent Systems, Osaka Prefecture University, Gakuen-chu 1-1, Sakai, Osaka, 599-8531, Japan
Sigeru Omatu
, Department of Computing Science, University of Salamanca, Plaza de la Merced S/N, Salamanca, 37008, Spain
Juan F. De Paz Santana
, Department of Computing Science, University of Salamanca, Plaza de la Merced S/N, Salamanca, 37008, Spain
Sara Rodríguez González
Escuela Politécnica Superior (EPS), Depto. Informática, Universidad Carlos III de Madrid, Avenida de la Universidad Carloss III 22, Madrid, 28270, Spain
Jose M. Molina
, Data Processing and Simulation Group, Universidad Politécnica de Madrid, Calle de Ramiro de Maeztu, 7, Madrid, 28040, Spain
Ana M. Bernardos
Faculty of Science, Department of Computing Science, University of Salamanca, Plaza de la Merced S/N, Salamanca, 37008, Spain
Juan M. Corchado Rodríguez

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Kuroe, S., Ito, K. (2012). Autonomous Control of Octopus-Like Manipulator Using Reinforcement Learning. In: Omatu, S., De Paz Santana, J., González, S., Molina, J., Bernardos, A., Rodríguez, J. (eds) Distributed Computing and Artificial Intelligence. Advances in Intelligent and Soft Computing, vol 151. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28765-7_66

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DOI: https://doi.org/10.1007/978-3-642-28765-7_66
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-28764-0
Online ISBN: 978-3-642-28765-7
eBook Packages: EngineeringEngineering (R0)

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