{"id":"https://openalex.org/W2171671953","doi":"https://doi.org/10.1109/iros.2009.5354270","title":"Consideration on robotic giant-swing motion generated by reinforcement learning","display_name":"Consideration on robotic giant-swing motion generated by reinforcement learning","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2171671953","doi":"https://doi.org/10.1109/iros.2009.5354270","mag":"2171671953"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/171865","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007935389","display_name":"Masayuki Hara","orcid":"https://orcid.org/0000-0002-1684-1483"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"M. Hara","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061727638","display_name":"Naoto KAWABE","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Kawabe","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072192681","display_name":"Naoki Sakai","orcid":"https://orcid.org/0000-0002-5860-7855"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Sakai","raw_affiliation_strings":["Department of Mechanical Engineering, Yokohama National University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I916559398","display_name":"Kindai University","ror":"https://ror.org/05kt9ap64","country_code":"JP","type":"education","lineage":["https://openalex.org/I916559398"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Huang","raw_affiliation_strings":["Department of Intelligent Mechanical Engineering, School of Engineering, Kinki University, Higashihiroshima, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Engineering, School of Engineering, Kinki University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I916559398"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107928415","display_name":"Hannes Bleuler","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Hannes Bleuler","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063748677","display_name":"Tetsuro Yabuta","orcid":"https://orcid.org/0000-0001-8312-9560"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yabuta","raw_affiliation_strings":["Department of Mechanical Engineering, Yokohama National University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5007935389"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":2.0614,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.86765396,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"j88 a","issue":null,"first_page":"4206","last_page":"4211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11601","display_name":"Neuroscience and Neural Engineering","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9383999705314636,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.838257908821106},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6946157217025757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6855176687240601},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.6114902496337891},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.6042593717575073},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5779560208320618},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5723446607589722},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.518969714641571},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5136472582817078},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45066016912460327},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4444873034954071},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.42192140221595764},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4169137179851532},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41555556654930115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19635838270187378},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08541849255561829}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.838257908821106},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6946157217025757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6855176687240601},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.6114902496337891},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.6042593717575073},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5779560208320618},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5723446607589722},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.518969714641571},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5136472582817078},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45066016912460327},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4444873034954071},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.42192140221595764},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4169137179851532},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41555556654930115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19635838270187378},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08541849255561829},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5354270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:171865","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/171865","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:171865","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/74572","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:171865","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/171865","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W598456735","https://openalex.org/W1515851193","https://openalex.org/W1522153944","https://openalex.org/W2013232999","https://openalex.org/W2044281381","https://openalex.org/W2049631037","https://openalex.org/W2127060726","https://openalex.org/W2131398727","https://openalex.org/W2508779297","https://openalex.org/W4214717370"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W4206135463","https://openalex.org/W2067790096","https://openalex.org/W4237948300","https://openalex.org/W2104958792","https://openalex.org/W2542992786","https://openalex.org/W2113822937"],"abstract_inverted_index":{"This":[0,93],"study":[1],"attempts":[2],"to":[3,42,63,136],"make":[4],"a":[5,10,111,138],"compact":[6],"humanoid":[7],"robot":[8,89,100,135],"acquire":[9],"giant-swing":[11,112,141],"motion":[12],"without":[13],"any":[14],"robotic":[15,74],"models":[16],"by":[17,67],"using":[18,85],"reinforcement":[19],"learning;":[20],"only":[21],"the":[22,54,69,73,77,80,87,99,105,117,121,128,131,134],"interaction":[23],"with":[24,101],"environment":[25],"is":[26,30,39,49,83,108],"available.":[27],"Generally,":[28],"it":[29],"widely":[31],"said":[32],"that":[33,127],"this":[34,59,65,124],"type":[35],"of":[36,79,130],"learning":[37],"method":[38,82],"not":[40,50],"appropriated":[41],"obtain":[43],"dynamic":[44,55,70,91],"motions":[45],"because":[46],"Markov":[47],"property":[48],"necessarily":[51],"guaranteed":[52],"during":[53],"task.":[56],"However,":[57],"in":[58,72,95,103],"study,":[60],"we":[61,115],"try":[62],"avoid":[64],"problem":[66],"embedding":[68],"information":[71],"state":[75],"space;":[76],"applicability":[78],"proposed":[81],"considered":[84],"both":[86],"real":[88],"and":[90],"simulator.":[92],"paper,":[94],"particular,":[96],"discusses":[97],"how":[98],"5-DOF,":[102],"which":[104],"Q-Learning":[106,132],"algorithm":[107],"implemented,":[109],"acquires":[110],"motion.":[113,142],"Further,":[114],"describe":[116],"reward":[118],"effects":[119],"on":[120],"Q-Learning.":[122],"Finally,":[123],"paper":[125],"demonstrates":[126],"application":[129],"enable":[133],"perform":[137],"very":[139],"attractive":[140]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}