Learning to Locomote with Artificial Neural-Network and CPG-based Control in a Soft Snake Robot
Xuan Liu,Renato Gasoto,Ziyi Jiang,Cagdas Onal,Jie Fu,Xuan Liu,Renato Gasoto,Ziyi Jiang,Cagdas Onal,Jie Fu
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A reinforcement learning (RL) module for achieving adaptive goal-tracking behaviors with changing goals, and a central pattern generator (CPG) system with Matsuoka oscillators for generating stable and diverse locomotion patterns. ...
