Takashi Iwasa

Adaptive Undulatory Locomotion of Snake-like Robots in Dynamic Viscous Environments via Deep Reinforcement Learning

Tsuyoshi Kimoto, Akio Yamano, Kohei Honda, Takashi Iwasa

This paper demonstrates how deep reinforcement learning (DRL) enables adaptive locomotion of snake-like robots in dynamically changing viscous environments, overcoming the inherent performance limitations of classical predefined control methods. The lack of direct onboard sensors…Read more

Deep reinforcement learning-based design with observation buffer of rolling motion for snake-like robots

Akio Yamano, Satomi Suzuki, Tsuyoshi Kimoto, Takashi Iwasa