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crawler's Introduction

Crawler robot

The crawler robot is a simple and low-cost physical platform for the initial study of reinforcement learning algorithms. It consists of a 2 DoF planar arm actuated by servomotors mounted on a mobile base with 2 free wheels .

crawler
The reinforcement learning algorithm used for the robot to find a sequence of actions that provide locomotion by its own is known as Q-learning. The agent starts by executing random movements with his arm and when some sequence manages to mobilize the platform, the robot receives a positive reward. It is the repetition of this reward process that allows the robot to strengthen the movements that give it consistent locomotion and ignore the ones that do not.

policy

Tools and materials

  • Ardunio Uno board
  • Matlab 2018
  • 2 hobby servomotors
  • Optical enconder
  • Bluetooth module

Demo

crawler's People

Watchers

Alberto Sánchez-Delgado avatar

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