Hybrid learning strategy to solve pendulum swing-up problem for real hardware

Shingo Nakamura, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    In this paper, we propose a machine learning strategy to obtain the optimal controller for actual machine using hybrid platforms; real hardware and simulator. A simulator consists of the neural networks which directly can learn actual behaviors of the latest hardware and emulates them without physical modeling. On the other hand, the controller of the hardware is trained with the simulator by the reinforcement learning method to realize the optimal control for the target task, and applied to the real hardware. Then, as long as the iteration of these processes is simultaneously performed, the system can automatically generate the optimal controller without any works even when hardware constitution is changed or switched. In this manner, the real hardware and the simulator affect each other to make the system adaptable. Furthermore, in the processes of sampling and supplying hardware data, we put a buffering component. It keeps the latest data of the hardware and supplies non-biased data to the simulator. As an example of the proposal method, we pick up the pendulum swing-up problem. In the experiments, firstly, the optimization process performs step by step for the initial hardware constitution and the basic idea of the method is evaluated. Afterward, by changing a pendulum, we confirm system can autonomously generate the new optimal controller for the real hardware without any human operations.

    Original languageEnglish
    Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
    Pages1972-1977
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya
    Duration: 2007 Dec 152007 Dec 18

    Other

    Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
    CityYalong Bay, Sanya
    Period07/12/1507/12/18

    Keywords

    • Machine learning
    • Pendulum swing-up problem
    • Simulator construction

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Biomaterials

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