Behaviour Learning by a Reward-Penalty Algorithm : From Gait Learning to Obstacle Avoidance by Neural Networks

  • Isabelle Sarda
  • Anne Johannet
Conference paper


Designing a mobile robot capable to evolve on various floors is a hard, and not yet solved task. Among the numerous ways, the biological inspired researches are attractive. Taking inspiration from such devices, a study on walk learning and obstacle avoiding by neural networks is presented. After a general presentation of the learning method, and its adaptation to neural networks, results on gait learning are described and first simulations on obstacle avoidance are also presented. Finally, a global network performing the two tasks with success is given.


Mobile Robot Obstacle Avoidance Learn Automaton Parallel Iteration Legged Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag/Wien 1995

Authors and Affiliations

  • Isabelle Sarda
    • 1
  • Anne Johannet
    • 1
  1. 1.LGI2P, EMA - EERIEAlès cedexFrance

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