C-Turtle - From the Lab into the Desert
Channel: KS Luck
Date: 05/06/2017

Find more information, videos and cut-files on: http://c-turtle.org
Contact: ksluck (aet) asu.edu

We present a methodology for fast prototyping
of morphologies and controllers for robot locomotion. Going
beyond simulation-based approaches, we argue that the form
and function of a robot, as well as their interplay with real-
world environmental conditions are critical. Hence, fast de-
sign and learning cycles are necessary to adapt robot shape
and behavior to their environment. To this end, we present
a combination of laminate robot manufacturing and sample-
efficient reinforcement learning. We leverage this methodology
to conduct an extensive robot learning experiment. Inspired
by locomotion in sea turtles, we design a low-cost crawling
robot with variable, interchangeable fins. Learning is performed
using both bio-inspired and original fin designs in an artificial
indoor environment as well as a natural environment in the
Arizona desert. The findings of this study show that static
policies developed in the laboratory do not translate to effective
locomotion strategies in natural environments. In contrast to
that, sample-efficient reinforcement learning can help to rapidly
accommodate changes in the environment or the robot.