{"id":"https://openalex.org/W2111051443","doi":"https://doi.org/10.1109/robot.2003.1241690","title":"Extended QDSEGA for controlling real robots - acquisition of locomotion patterns for snake-like robot","display_name":"Extended QDSEGA for controlling real robots - acquisition of locomotion patterns for snake-like robot","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2111051443","doi":"https://doi.org/10.1109/robot.2003.1241690","mag":"2111051443"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},"type":"article","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/A5112193494","display_name":"K. Ito","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Ito","raw_affiliation_strings":["Department of Systems Engineering, Okayama University, Okayama, Japan","[Dept. of Syst. Eng., Okayama Univ., Japan]"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"[Dept. of Syst. Eng., Okayama Univ., Japan]","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033931797","display_name":"Tetsushi Kamegawa","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Kamegawa","raw_affiliation_strings":["Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Yokohama, Japan","Tokyo Inst. of Tech"],"affiliations":[{"raw_affiliation_string":"Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Yokohama, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech","institution_ids":["https://openalex.org/I114531698"]}]},{"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/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"F. Matsuno","raw_affiliation_strings":["Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Yokohama, Japan","Tokyo Inst. of Tech"],"affiliations":[{"raw_affiliation_string":"Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Yokohama, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112193494"],"corresponding_institution_ids":["https://openalex.org/I163770644"],"apc_list":null,"apc_paid":null,"fwci":4.0473,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.93901216,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"791","last_page":"796"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9836999773979187,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8056487441062927},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6613633036613464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6121153831481934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49006855487823486},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3809323310852051},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36616069078445435},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.35634976625442505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33351171016693115}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8056487441062927},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6613633036613464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6121153831481934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49006855487823486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3809323310852051},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36616069078445435},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.35634976625442505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33351171016693115}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W1557517019","https://openalex.org/W1972791802","https://openalex.org/W2121863487","https://openalex.org/W2123431998","https://openalex.org/W2144280078","https://openalex.org/W2726613002","https://openalex.org/W3154622627","https://openalex.org/W4214717370","https://openalex.org/W7052218893"],"related_works":["https://openalex.org/W2118648141","https://openalex.org/W2965672371","https://openalex.org/W2070325379","https://openalex.org/W1995274592","https://openalex.org/W2151698195","https://openalex.org/W2148524844","https://openalex.org/W2000747543","https://openalex.org/W2054554961","https://openalex.org/W2363324757","https://openalex.org/W2590484905"],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1,34,105],"is":[2,9,49,72,106],"very":[3,93,107],"effective":[4],"for":[5,51],"robot":[6,60,79,145],"learning.":[7],"It":[8,48],"because":[10],"it":[11,120,125,136],"does":[12],"not":[13],"need":[14],"prior":[15],"knowledge":[16],"and":[17,23,86,132,146,150,162],"has":[18,80],"higher":[19],"capability":[20],"of":[21,40,65,70,84,89,102,116,139,142,153],"reactive":[22],"adaptive":[24],"behaviors.":[25],"In":[26,109],"our":[27],"previous":[28],"works,":[29],"we":[30,112],"proposed":[31],"new":[32],"reinforce":[33],"algorithm:":[35],"\"Q-learning":[36],"with":[37,54,61,155],"dynamic":[38],"structuring":[39],"exploration":[41],"space":[42,57],"based":[43],"on":[44],"genetic":[45],"algorithm":[46],"(QDSEGA)\".":[47],"designed":[50],"complicated":[52],"systems":[53],"large":[55],"action-state":[56],"like":[58],"a":[59],"many":[62,81],"redundant":[63,82],"degrees":[64,83],"freedom.":[66],"However":[67],"the":[68,87,90,97,143,148,151,156],"application":[69,101],"QDSEGA":[71,117,154],"restricted":[73],"to":[74,95,123,126,137],"static":[75],"systems.":[76],"A":[77],"snake-like":[78,144],"freedom":[85],"dynamics":[88],"system":[91],"are":[92],"important":[94],"complete":[96],"locomotion":[98,140],"task.":[99],"So":[100],"usual":[103],"reinforcement":[104],"difficult.":[108],"this":[110],"paper,":[111],"extend":[113],"layered":[114,158],"structure":[115,159],"so":[118],"that":[119,129],"becomes":[121],"possible":[122],"apply":[124,135],"real":[127],"robots":[128],"have":[130],"complexities":[131],"dynamics.":[133],"We":[134],"acquisition":[138],"pattern":[141],"demonstrate":[147],"effectiveness":[149],"validity":[152],"extended":[157],"by":[160],"simulation":[161],"experiment.":[163]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}