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Design and Control of a Bimanual Rehabilitation System for Trunk Impairment Patients Read chapter Read first chapter

2022 | OriginalPaper | Chapter

SCRMA: Snake-Like Robot Curriculum Rapid Motor Adaptation

Authors : Xiangbei Liu, Fengwei Sheng, Xian Guo

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

Controllers for underwater snake-like robots are difficult to design because of their high DOF and complex motions. Additionally, because of the complex underwater environment and insufficient knowledge of hydrodynamics, the traditional control algorithms based on environment or robot modeling cannot work well. In this paper, we propose an SCRMA algorithm, which combines the characteristics of the RMA algorithm for rapid learning and adaptation to the environment, and uses curriculum learning and save &load exploration to accelerate the training speed. Experiments show that the SCRMA algorithm works better than other kinds of reinforcement learning algorithms nowadays.

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Metadata
Title
SCRMA: Snake-Like Robot Curriculum Rapid Motor Adaptation
Authors
Xiangbei Liu
Fengwei Sheng
Xian Guo
Copyright Year
2022
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-031-13821-8

Electronic ISBN: 978-3-031-13822-5

Copyright Year: 2022

DOI
https://doi.org/10.1007/978-3-031-13822-5_16

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