Offline Practising and Runtime Training Framework for Autonomous Motion Control of Snake Robots
Long Cheng,Jianping Huang,Linlin Liu,Zhiyong Jian,Yuhong Huang,Kai Huang,Long Cheng,Jianping Huang,Linlin Liu,Zhiyong Jian,Yuhong Huang,Kai Huang
This paper proposes an offline and runtime combined framework for the autonomous motion of snake robots. With the dynamic feedback of its state during runtime, the robot utilizes the linear regression to update its control parameters for better performance and thus adaptively reacts to the environment. To reduce interference from infeasible samples and improve efficiency, the data set for runtime ...
