Research autonomous motion control for snake robot based on bionic learning strategy

To solve the problems of difficultly making certain the control parameters and the unideal motion performance of snake robot, we develop a bionic autonomous strategy based on operant conditioning mechanism, which can realize autonomously optimize and adjust control parameters. The designed strategy is a 5-tupe and mainly contains: 1) state space; 2) action space; 3) state transfer function, meaning the consequence after action; 4) tendency function; 5) action selection strategy, adjusting the selected probability of each action. The designed bionic strategy is applied to motion control of snake robot. The experiment analysis is carried out combined with webots robot simulation software. The results of the simulation experiment indicate that the skill of autonomous optimization adjustment control parameters will gradually be enhanced with the learning proceeding.