RoboArm
Reinforcement learning to control a bio-inspired arm driven by cables and springs.
Or drag the forearm. As the elbow folds, the cable winds onto the spool and the elastic behind the elbow stretches.
Energy in the elastic
It grows with the square of the stretch, so the last part of the fold stores the most.
Release the cable and the elastic gives its energy back, returning the arm. RoboArm studies how a learned controller works with this.
Results so far
- No experimental results yet.
Limits
- Early stage: the mechanism and controller are still being built.