  A terrestrial robot that can maneuver rough terrain and scout places is very
useful in mapping out unknown areas. It can also be used explore dangerous
areas in place of humans. A terrestrial robot modeled after a scorpion will be
able to traverse undetected and can be used for surveillance purposes.
Therefore, this paper proposes modelling of a scorpion inspired robot and a
reinforcement learning (RL) based controller for navigation. The robot scorpion
uses serial four bar mechanisms for the legs movements. It also has an active
tail and a movable claw. The controller is trained to navigate the robot
scorpion to the target waypoint. The simulation results demonstrate efficient
navigation of the robot scorpion.
