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Session T3H Work In Progress- Programming in a Confined Space – A Case Study in Porting Modern Robot Software to an Antique Platform

By Stacey L. Montresor, Jennifer S. Kay, Michel Tokic and Jonathan M. Summerton


Abstract- In a typical introductory AI class, the topic of reinforcement learning may be allocated only a few hours of class time. One engaging example of reinforcement learning uses a crawling robot that learns to use its two-degree-of-freedom arm to drag itself forward. Unfortunately, the cost of the required hardware is prohibitively expensive for many departments for what is typically a once-a-semester demonstration. So we decided to port the algorithm to a platform that many departments may already have on hand: the LEGO Mindstorms RCX 2.0. Initially the task seemed relatively straightforward: build a robot base out of LEGO parts and implement the algorithm in the Not Quite C language. However the challenges of designing a robot arm without servos and attempting to trim cod

Year: 2012
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