Robots are used in various industrial sites, but traditional methods of operating a robot are limited at some kind of tasks. In order for a robot to accomplish a task, it is needed to find and solve accurate formula between a robot and environment and that is complicated work. Accordingly, reinforcement learning of robots is actively studied to overcome this difficulties. This study describes the process and results of learning and solving which applied reinforcement learning. The mission that the robot is going to learn is bottle flipping. Bottle flipping is an activity that involves throwing a plastic bottle in an attempt to land it upright on its bottom. Complexity of movement of liquid in the bottle when it thrown in the air, makes this task difficult to solve in traditional ways. Reinforcement learning process makes it easier. After 3-DOF robotic arm being instructed how to throwing the bottle, the robot find the better motion that make successful with the task. Two reward functions are designed and compared the result of learning. Finite difference method is used to obtain policy gradient. This paper focuses on the process of designing an efficient reward function to improve bottle flipping motion.

Abstract
 1. 서 론
 2. 강화 학습 임무 및 시스템 설계
  2.1 임무
  2.2 시스템 설계
 3. 초기 동작 생성 및 학습 방법
  3.1 초기 동작 생성
  3.2 학습의 과정
 4. 보틀 플리핑을 위한 보상 함수
  4.1 최고점과 착지 순간의 보상 함수
  4.2 착지 순간의 보상 함수
 5. 강화 학습의 결과
  5.1 강화 학습의 결과
 6. 결 론
 References

• 양영하(Sogang University) | Young-Ha Yang
• 이상혁(Sogang University) | Sogang University
• 이철수(Sogang University) | Cheol-Soo Lee Corresponding author