Posture Control of a Free Falling Robotic Cat for Soft Landing Using Reinforcement Learning
نویسندگان
چکیده
Robot’s posture control ability in the air is required when designing advanced robots that can run, jump and land, which can perform tasks in workplaces where ordinary robots cannot go. Using such a robot could afford human safety as well as cost reduction. In this paper, we describe the control method of robot’s posture in its falling for the safe landing using reinforcement learning (RL). The posture control ability for safe landing is inspired by cats. Although a cat is dropped from the upside down posture, she can flip her body so that she can land on her feet. The robotic cat that we simplified from the real cats consists of two rigid columns and has two actuators at the joint to assert torque inputs. The controller is obtained via Sarsa. Based on simulation results, we concluded that the posture control ability of a two column robot can be realized using RL.
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