Many-segmented peristaltic crawling robots

What is it about?

We develop a robot using a characteristic of the peristaltic crawling and drive the movement pattern of the robot by Actor-Critic which is one of the reinforcement learning. . Moreover, we indicated a provided movement pattern for a real robot and make a test run.

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Why is it important?

This study derived a movement pattern for application to a many-segmented peristaltic crawling robot using Actor–Critic. Q-learning was unable to perform calculations because of lack of memory, but Actor–Critic can derive the movement pattern algorithm of a many-segmented robot.