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In this paper we apply a policy improvement algorithm called Policy Improvement with Path Integrals (PI2) to generate goal-directed locomotion of a complex snake-like robot with screw-drive units. PI2 is numerically simple and has an ability to deal with high dimensional systems. Here, this approach is used to find proper locomotion control parameters, like joint angles and screw-drive velocities,...
When a legged-robot walks on an irregular terrain such as a damaged area, some footholds may collapse due to the external force caused by the walking robot, and consequently the robot will stumble and fall. We have earlier proposed a locomotion method in which the quadruped robot does not stumble and cause a large collapse of the surrounding area on a weak horizontal plane. In this paper, we extend...
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