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Title: Design of a peristaltic crawling robot using 3-D link mechanisms

Authors: Norihiko Saga; Satoshi Tesen; Hiroki Dobashi; Jun-ya Nagase

Addresses: Department of Human System Interaction, Kwansei Gakuin University, 2-1 Gakuen, Sanda, Hyogo, Japan ' Department of Human System Interaction, Kwansei Gakuin University, 2-1 Gakuen, Sanda, Hyogo, Japan ' Department of Human System Interaction, Kwansei Gakuin University, 2-1 Gakuen, Sanda, Hyogo, Japan ' Department of Human System Interaction, Kwansei Gakuin University, 2-1 Gakuen, Sanda, Hyogo, Japan

Abstract: In disaster areas, rescue work conducted by humans is extremely difficult. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement mechanism of an earthworm, because it can enable movement through narrow spaces and because it can provide stable movement according to various difficult environments. We developed a robot using peristalsis characteristics and derived a robot motion pattern using Q-learning, a mode of reinforcement learning. Moreover, we designed each part of the robot based on required specifications and thereby developed a real robot. We present results of motion experiments assessing the robot's level ground movement.

Keywords: biorobotics; peristaltic crawling robots; Q-learning; link mechanisms; rescue work; rescue robots; earthworms; worm movement; robot motion; emergency management; disaster management; reinforcement learning.

DOI: 10.1504/IJBBR.2013.058739

International Journal of Biomechatronics and Biomedical Robotics, 2013 Vol.2 No.2/3/4, pp.111 - 117

Available online: 17 Jan 2014 *

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