Machine Learning-Driven Burrowing with a Snake-Like Robot
Sean Even,Holden Gordon,Hoeseok Yang,Yasemin Ozkan-Aydin,Sean Even,Holden Gordon,Hoeseok Yang,Yasemin Ozkan-Aydin
Subterranean burrowing is inherently difficult for robots because of the high forces experienced as well as the high amount of uncertainty in this domain. Because of the difficulty in modeling forces in granular media, we propose the use of a novel machine-learning control strategy to obtain optimal techniques for vertical self-burrowing. In this paper, we realize a snake-like bio-inspired robot t...
