The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2021
Session ID : 1P1-I10
Conference information

Experimental Verification of Snake-like Locomotion Using Model-based Reinforcement Learning
*Kotaro HIRAIKyo KUTSUZAWADai OWAKIMitsuhiro HAYASHIBE
Author information
CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details
Abstract

Snake-like robots are expected to be utilized for disaster rescue because they can locomote through gaps that humans cannot go through by appropriately coordinating the large degrees of freedom (DoFs) in their bodies. However, when learning locomotion using reinforcement learning (RL), an increase in learning time due to the large degrees of actions based on the bodily DoFs is a serious issue. To solve this, inspired by biomechanics on snake locomotion, we propose a reduction method for actions on model-based RL. In this paper, we verify the validity of the proposed method using an actual snake-like robot.

Content from these authors
© 2021 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top