Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain
Shuo Jiang,Adarsh Salagame,Alireza Ramezani,Lawson L. S. Wong,Shuo Jiang,Adarsh Salagame,Alireza Ramezani,Lawson L. S. Wong
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots that integrates tactile perception to augment their adaptability to various terrains. Our approach embraces a hierarchical reinforcement learning (HRL) architectu...
