{"id":"https://openalex.org/W2535437139","doi":"https://doi.org/10.1109/raad.2014.7002234","title":"Reinforcement learning approach to generate goal-directed locomotion of a snake-like robot with screw-drive units","display_name":"Reinforcement learning approach to generate goal-directed locomotion of a snake-like robot with screw-drive units","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2535437139","doi":"https://doi.org/10.1109/raad.2014.7002234","mag":"2535437139"},"language":"en","primary_location":{"id":"doi:10.1109/raad.2014.7002234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/raad.2014.7002234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103831156","display_name":"Sromona Chatterjee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sromona Chatterjee","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077182745","display_name":"Timo Nachstedt","orcid":"https://orcid.org/0000-0002-4369-2305"},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timo Nachstedt","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023811677","display_name":"Florentin W\u00f6rg\u00f6tter","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florentin Worgotter","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078400295","display_name":"Minijia Tamosiunaite","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Minijia Tamosiunaite","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034246691","display_name":"Poramate Manoonpong","orcid":"https://orcid.org/0000-0002-4806-7576"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]},{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE","DK"],"is_corresponding":false,"raw_author_name":"Poramate Manoonpong","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany","Maersk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]},{"raw_affiliation_string":"Maersk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037717194","display_name":"Yoshihide Enomoto","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihide Enomoto","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041139706","display_name":"Ryo Ariizumi","orcid":"https://orcid.org/0000-0002-2791-9979"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Ariizumi","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9901999831199646,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9872000217437744,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7319155335426331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6175732016563416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.600594699382782},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.48779064416885376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3281105160713196},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2545846104621887},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.05426010489463806}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7319155335426331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6175732016563416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.600594699382782},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.48779064416885376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3281105160713196},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2545846104621887},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.05426010489463806}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/raad.2014.7002234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/raad.2014.7002234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/c4594abf-2197-4905-8d02-5c2032d9407f","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/c4594abf-2197-4905-8d02-5c2032d9407f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chatterjee, S, Nachstedt, T, Tamosiunaite, M, W\u00f6rg\u00f6tter, F, Manoonpong, P, Enomoto, Y, Ariizumi, R & Matsuno, F 2014, Reinforcement Learning Approach to Generate Goal-directed Locomotion of a Snake-Like Robot with Screw-Drive Units. in Proceedings of the 23rd International Conference on Robotics in Alpe-Adria-Danube Region. IEEE, 23rd International Conference on Robotics in Alpe-Adria-Danube Region , Smolenice, Slovakia, 03/09/2014. https://doi.org/10.1109/RAAD.2014.7002234","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:vdu.lt:20.500.12259/50383","is_oa":false,"landing_page_url":"https://hdl.handle.net/20.500.12259/50383","pdf_url":null,"source":{"id":"https://openalex.org/S7407055361","display_name":"Vytautas Magnus University","issn_l":null,"issn":null,"is_oa":false,"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":null,"raw_type":"research article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1573670163","https://openalex.org/W1925816294","https://openalex.org/W1939016165","https://openalex.org/W1964258484","https://openalex.org/W1994587340","https://openalex.org/W2042882799","https://openalex.org/W2068628598","https://openalex.org/W2071444114","https://openalex.org/W2085627234","https://openalex.org/W2165903554","https://openalex.org/W3005581722","https://openalex.org/W4236209040","https://openalex.org/W6640290305","https://openalex.org/W6649138239"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856"],"abstract_inverted_index":{"In":[0],"this":[1,50],"paper":[2],"we":[3],"apply":[4],"a":[5,25,75,90,97],"policy":[6],"improvement":[7],"algorithm":[8],"called":[9],"Policy":[10],"Improvement":[11],"with":[12,29,45],"Path":[13],"Integrals":[14],"(PI":[15],"<sup":[16,33],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[17,34],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[18,35],")":[19],"to":[20,43,54,85],"generate":[21],"goal-directed":[22],"locomotion":[23,57],"of":[24,66],"complex":[26],"snake-like":[27],"robot":[28,77,93],"screw-drive":[30,64],"units.":[31],"PI":[32],"is":[36,52],"numerically":[37],"simple":[38],"and":[39,63,78],"has":[40],"an":[41],"ability":[42],"deal":[44],"high":[46],"dimensional":[47],"systems.":[48],"Here,":[49],"approach":[51],"used":[53],"find":[55],"proper":[56],"control":[58],"parameters,":[59],"like":[60],"joint":[61],"angles":[62],"velocities,":[65],"the":[67,79,86,92],"robot.":[68],"The":[69],"learning":[70],"process":[71],"was":[72],"achieved":[73],"using":[74],"simulated":[76],"learned":[80],"parameters":[81],"were":[82],"successfully":[83],"transferred":[84],"real":[87],"one.":[88],"As":[89],"result":[91],"can":[94],"locomote":[95],"toward":[96],"given":[98],"goal.":[99]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
