Energy-Efficient Slithering Gait Exploration for a Snake-Like Robot Based on Reinforcement Learning
| Autor: | Alois Knoll, Kai Huang, Christian Lemke, Zhuangyi Jiang, Zhenshan Bing |
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| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
Computer science Bayesian optimization Parameterized complexity 02 engineering and technology Degrees of freedom (mechanics) Gait Computer Science - Robotics 03 medical and health sciences 0302 clinical medicine Control theory Hyperparameter optimization 0202 electrical engineering electronic engineering information engineering Robot Reinforcement learning 020201 artificial intelligence & image processing Robotics (cs.RO) 030217 neurology & neurosurgery |
| Zdroj: | IJCAI |
| DOI: | 10.24963/ijcai.2019/785 |
| Popis: | Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly redundant degrees of freedom, where traditional model-based methods usually fail to propel the robots energy-efficiently. In this work, we present a novel approach for designing an energy-efficient slithering gait for a snake-like robot using a model-free reinforcement learning (RL) algorithm. Specifically, we present an RL-based controller for generating locomotion gaits at a wide range of velocities, which is trained using the proximal policy optimization (PPO) algorithm. Meanwhile, a traditional parameterized gait controller is presented and the parameter sets are optimized using the grid search and Bayesian optimization algorithms for the purposes of reasonable comparisons. Based on the analysis of the simulation results, we demonstrate that this RL-based controller exhibits very natural and adaptive movements, which are also substantially more energy-efficient than the gaits generated by the parameterized controller. Videos are shown at \textcolor{blue}{\href{https://videoviewsite.wixsite.com/rlsnake}{https://videoviewsite.wixsite.com/rlsnake}}. |
| Databáze: | OpenAIRE |
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