Acquisition of Movement Pattern by Q-Learning in Peristaltic Crawling Robot

摘要

A peristaltic-crawling robot composed of many servo motors was developed. This robot can move equivalently to an earthworm using peristalsis, with expansion and contraction of segments, and also using contact sensors. The movement pattern was designed based on the peristaltic motion of an earthworm. The optimum movement pattern for a peristaltic-crawling robot was acquired through Q-learning. Its effectiveness was confirmed by mounting it onto a real robot.