In nature, snakes can gracefully traverse a wide range of different and complex
environments. Snake robots that can mimic this behaviour could be fitted with sensors and …

Many real world tasks require multiple agents to work together. Multi-agent reinforcement
learning (RL) methods have been proposed in recent years to solve these tasks, but current …

The Carnegie Mellon University Biorobotics Laboratory was invited to bring snake robots to
Mexico City to assist with search and rescue efforts in the wake of the September 2017 …

The snake robot, which mimics the mechanism of real snakes, is expected to be used in
various environments. This article addresses the challenge of snake robots autonomously …

This work investigates adaptive stiffness control and motion optimization of a snake-like
robot with variable stiffness actuators. The robot can vary its stiffness by controlling magneto …

Organismal solutions to natural challenges can spark creative engineering applications.
However, most engineers are not experts in organismal biology, creating a potential barrier …

State-of-the-art distributed algorithms for reinforcement learning rely on multiple
independent agents, which simultaneously learn in parallel environments 1 while …

Highly articulated systems are capable of executing a variety of behaviors by coordinating
their many internal degrees of freedom to help them move more effectively in complex …

This paper presents the design and manufacture process of a wheel-less, modular snake
robot with series elastic actuators to reliably measure motor torque signal and investigate …

Snake robots have the potential to maneuver through tightly packed and complex
environments. One challenge in enabling them to do so is the complexity in determining how …