Improvement of learning surface by exploiting the interplay between control and mechanical dynamics

Research output: Contribution to conferencePaperpeer-review

Abstract

This study is intended to deal with the interdependency between control and body systems, and to discuss the "relationship as it should be" between these two systems. To this end, a decentralized control of a multi-legged robot is employed as a practical example. The result derived indicates that the convergence of decentralized gait control can be significantly ameliorated by modifying the interaction between the control and body dynamics. We also discuss a property expected to emerge under the "well-balanced coupling" particularly from the viewpoint of learning, by borrowing the idea from the "protein folding problem".

Original languageEnglish
Pages2931-2935
Number of pages5
Publication statusPublished - 2004
EventSICE Annual Conference 2004 - Sapporo, Japan
Duration: 2004 Aug 42004 Aug 6

Conference

ConferenceSICE Annual Conference 2004
Country/TerritoryJapan
CitySapporo
Period04/8/404/8/6

Keywords

  • Emergence
  • Learning Surface
  • Protein Folding
  • Well-balanced Design

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