Exploring Behaviors of Caterpillar-Like Soft Robots with a Central Pattern Generator-Based Controller and Reinforcement Learning.

ABSTRACT: Due to their flexibility, soft-bodied robots can potentially achieve rich and various behaviors within a single body. However, to date, no methodology has effectively harnessed these robots to achieve such diverse desired functionalities. Controllers that accomplish only a limited range of behaviors in such robots have been handcrafted. Moreover, the behaviors of these robots should be determined through body-environment interactions because an appropriate behavior may not always be manifested even if the body dynamics are given. Therefore, we have proposed SenseCPG-PGPE, a method for automatically designing behaviors for caterpillar-like soft-bodied robots. This method optimizes mechanosensory feedback to a central pattern generator (CPG)-based controller, which controls actuators in a ro

SUBMITTER: Ishige M 

PROVIDER: S-EPMC6786347 | biostudies-literature | 2019 Oct

REPOSITORIES: biostudies-literature