Autonomous Shape-Variable Crawler: One-Dimensional Displacement Coordination for Constant Upper Frame Posture

LEE, Geunho; Ogata, Kouki; Li, Chun-He

doi:10.1109/tits.2021.3135347

Cited by 4 publications

(1 citation statement)

References 30 publications

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“…Currently, in practical applications, mobile robots are mostly wheeled robots, whose ability to traverse terrain is limited by the size of their wheels relative to the terrain [4]. Other mobile robots such as tracked robots have certain advantages on rough terrain [5] but still face challenges in more complex environments.…”

Section: Introductionmentioning

confidence: 99%

A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance

Wang,

Li,

Huangfu

et al. 2023

Actuators

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This paper investigates a path planning approach for the walking and obstacle avoidance of a blind hexapod robot in various field conditions. Hexapod robots often perform field tasks in unstructured environments, and their external sensors are affected by weather and light. This paper proposes the use of internal sensors to sense the terrain and a slightly modified soft actor-critic algorithm to train the motion strategy. A hexapod robot is capable of walking smoothly on rough ground only using internal sensors that are not affected by weather factors, and the soft actor-critic approach is superior for overcoming high-dimensional issues for multi-degree-freedom robot motion in unstructured environments.The experiments showed that the hexapod robot not only traversed rugged terrain at a fixed speed but also possessed obstacle avoidance capabilities.

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Section: Introductionmentioning

confidence: 99%