Motor primitives provide a modular organization to complex behaviours in both vertebrates and invertebrates. Inspired by this, here we generate motor primitives for a complex snake-like robot with screw-drive units, and thence chain and combine them, in order to provide a versatile, goal-directed locomotion for the robot. The behavioural primitives of the robot are generated using a reinforcement learning approach called "Policy Improvement with Path Integrals" (PI2). PI2 is numerically simple and has the ability to deal with high-dimensional systems. Here, PI2 is used to learn the robot’s motor controls by finding proper locomotion control parameters, like joint angles and screw-drive unit velocities, in a coordinated manner for different goals. Thus, it is able to generate a large repertoire of motor primitives, which are selectively stored to form a primitive library. The learning process was performed using a simulated robot and the learned parameters were successfully transferred to the real robot. By selecting different primitives and properly chaining or combining them, along with parameter interpolation and sensory feedback techniques, the robot can handle tasks like achieving a single goal or multiple goals while avoiding obstacles, and compensating for a change to its body shape. ; unReviewed


    Access

    Download


    Export, share and cite



    Title :

    Learning and Chaining of Motor Primitives for Goal-directed Locomotion of a Snakelike Robot with Screw-drive Units



    Publication date :

    2015-01-01


    Remarks:

    doi:10.5772/61621



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Modularized underwater snakelike robot

    LI ZHIQING / MA SHUGEN / AN XIAOSONG | European Patent Office | 2021

    Free access

    Underwater soft snakelike robot

    SHI HANG / ZHOU YUHONG / CUI WENLONG et al. | European Patent Office | 2021

    Free access

    Bionic snakelike peristaltic robot

    SUN YINGJIE | European Patent Office | 2020

    Free access

    Snakelike life detection robot

    LIANG ZHIDA / LIU TONG / WANG CONG et al. | European Patent Office | 2023

    Free access

    Crawler-type snakelike robot

    ZHANG YANGANG / YUAN FUCHENG / CHEN YANKUN et al. | European Patent Office | 2024

    Free access