Control of Hyper-Redundant Robot using QDSEGA

Abstract

We consider a flexible autonomous system. To realize the system, we employ Hyper-redundant system (It is flexible hardware system) and Reinforcement learning controller “QDSEGA” (It is a flexible software system). In this paper we apply QDSEGA to controlling of Hyper-redundant robot. To demonstrate the effectiveness, a task of acquisition of locomotion patterns is applied to a multi-legged formation and a snake-like formation, as a result effective locomotion has been obtained.