Title: Bionic learning strategy applied on snake robot motion control

Authors: Jianxian Cai; Dun Ao; Ruihong Yu

Addresses: Department of Disaster Prevention Instrument, Institute of Disaster Prevention, Sanhe, Hebei, 065201, China ' School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, 100124, China ' Department of Disaster Prevention Instrument, Institute of Disaster Prevention, Sanhe, Hebei, 065201, China

Abstract: To solve the problems that the control parameters are difficult to be made certain and the non-ideal motion performance of snake robot, we develop a bionic autonomous strategy based on operant conditioning mechanism, which can realise autonomously and optimise adjust control parameters. The designed strategy is a 5-tuple and mainly contains: 1) state space; 2) action space; 3) state transfer function, meaning the consequence after action; 4) tendency function; 5) action selection strategy, adjusting the selected probability of each action. The designed bionic strategy is applied to motion control of snake robot. The experiment analysis is carried out combined with Webots robot simulation software. The results of the simulation experiment indicate that the skill of autonomous optimisation adjustment control parameters will gradually be enhanced with the learning proceeding.

Keywords: autonomous strategy; operant conditioning; snake robots; motion control; control parameters; bionic learning; learning strategy; robot motion; robot control; robot simulation.

DOI: 10.1504/IJMIC.2013.055432

International Journal of Modelling, Identification and Control, 2013 Vol.19 No.3, pp.265 - 274

Published online: 27 Sep 2014 *

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