Tadahrio Taniguchi

Learning Oscillator-Based Gait Controller for String-Form Soft Robots Using Parameter-Exploring Policy Gradients

This paper presents a methodology to design mechanosensor feedback to oscillator-based controller for worm-like soft-bodied robots. A reinforcement learning technique, i.e., PEPG, is employed to embed appropriate mechanosensor feedback to harness global entrainment among the controller, the body dyn…