Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA

Abstract-- This paper employs a reinforcement learningbased model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed approach refines the parameters of COBRA's dynamical model such as coefficient of friction and actuator parameters using experimental and simulated data. Experimental validation on the hardware platform demonstrates the efficacy of the proposed approach, highlighting its potential to address simto-real gap in robot implementation. These systems present formidable challenges in modeling and control due to the complex interplay of unilateral contact forces, leading to intricate complementarity conditions [2]. Traditional approaches have previously tackled these force inclusion issues with promising outcomes [3], [4].