In:
Frontiers in Robotics and AI, Frontiers Media SA, Vol. 9 ( 2022-4-20)
Abstract:
The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus’s tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus’s tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.
Type of Medium:
Online Resource
ISSN:
2296-9144
DOI:
10.3389/frobt.2022.815435
DOI:
10.3389/frobt.2022.815435.s001
DOI:
10.3389/frobt.2022.815435.s002
DOI:
10.3389/frobt.2022.815435.s003
DOI:
10.3389/frobt.2022.815435.s004
DOI:
10.3389/frobt.2022.815435.s005
DOI:
10.3389/frobt.2022.815435.s006
DOI:
10.3389/frobt.2022.815435.s007
DOI:
10.3389/frobt.2022.815435.s008
Language:
Unknown
Publisher:
Frontiers Media SA
Publication Date:
2022
detail.hit.zdb_id:
2781824-X
Permalink