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In this study, we improved our previous snake-like rescue robot by developing and implementing a stabilizing mechanism. By designing the mechanism to work passively, we achieved a stabilizing function without any CPU and sensors. To demonstrate the effectiveness of the developed mechanism, experiments in which the robot approaches a vertical wall at various angles were conducted. In all cases, the...
In this study, we develop a multi-legged robot that is designed to operate on rubble. Generally, conventional multi-legged robots have many actuators for driving the legs and body. Hence, control of these robots is more complicated than that of crawler robots such as tank robots, and it is very difficult to operate multi-legged robots adaptively in a complex environment such as that containing rubble...
In this paper, we address the autonomous control of a 3-dimensional snake-like robot by using reinforcement learning, and we apply it in the case of rubble. In general, snake-like robots have high mobility that is realized by many degrees of freedom, and they can move on rubble. However, the many degrees of freedom cause the state explosion problem, and the complexity of the rubble results in incomplete...
In this paper, we describe the development of a 6-legged robot that is designed to move on rubble. We investigate the effectiveness of applying reinforcement learning that utilizes body image to a real robot. We conduct a robot learning process in the simulated simple world and apply the policy thus acquired in the real complex world. The results show that the robot body abstracts the necessary information...
We address the autonomous control of a 6-legged robot using reinforcement learning. In general, a robot can be made to learn adaptive behavior through reinforcement learning. However, reinforcement learning, presents a serious problem when it is applied to robots with many degrees of freedom, namely the state explosion problem. In our previous works, we proposed reinforcement learning with body image...
Recently, applications of robots for rescue operations have attracted considerable attention. However, at real disaster sites some spaces among rubble are so narrow that conventional rescue robots cannot pass through them. Hence, development of a robotized endoscope that has the advantages of both robots and industrial endoscopes is expected. In this study we improved our previous manipulator to search...
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