日本機械学会論文集(C 編) 原著論文 No.2011-JCR-0275 ©2012 The Japan Society of Mechanical Engineers ∗1 Department of Mechanical Engineering, Undergraduate School of Science and Techonology, Toyo University 2100, Kujirai, Kawagoe-shi, Saitama, 350-8585 Japan Reinforcement learning approaches attract attention as the technique to construct the mapping function between sensors-motors of an autonomous robot through