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Ken-ichi OGAWA,(Akita Prefectural Univ.) Norihiko SAGA,(Akita Prefectural Univ.) Toshiyuki SATOH,(Akita Prefectural Univ.) Hiroyuki TAKANASHI,(Akita Prefectural Univ.) Seiji CHONAN,(Akita Prefectural Univ.) Abstract‐The Peristaltic Crawling Robot composed of the connection of more servo motors was produced. This robot can move in the peristalsis by the unit's corresponding to earthworm's unit, and expanding and shrinking. The robot is used it as a contact sensor by using the current sensor of the servo motor. The effectiveness was confirmed by mounting the movement pattern and the pattern designed based on earthworm's peristaltic motion on the robot, and comparing it. QDSEGA is one of the reinforcement learning, and the technique for obtaining the solution by using genetic algorithm and Q-learning from a huge search space. In addition, the movement pattern in the peristalsis movement type robot was requested by QDSEGA.

2P1-A22 Acquisition of Movement Pattern by Reinforcement Learning in Peristaltic Crawling Robot