Video2_Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus.MP4 (2.76 MB)
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Video2_Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus.MP4

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posted on 20.04.2022, 04:11 authored by Qiuxuan Wu, Yan Wu, Xiaochen Yang, Botao Zhang, Jian Wang, Sergey A Chepinskiy, Anton A Zhilenkov

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.

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