Reinforcement learning recently shows great progress on legged robots, while bipedal robots in high dimensions but narrow solution space are still challenging to learn. The typical methods introduce the reference joints motion to guide the learning process; however, obtaining a high-quality reference trajectory is nontrivial, and imitation suffers from the local minimum. For general reference-free scenarios, the bipedal robot is discouraged by the early termination and biased sample collection. Inspired by the assistive learning commonly shown in biped animals, we introduce the assistive force to aid the learning process without the requirement of reference trajectories. The learned assistant could be a curricula to lead motor skills learning and is eliminated in the end to shape the learned motion to be plausible. We analyze the assistive system and verify its effectiveness in multiple challenging bipedal skills (Videos and supplementary materials: https://fanshi14.github.io/me/isrr22.).


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Reference-Free Learning Bipedal Motor Skills via Assistive Force Curricula


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Billard, Aude (Herausgeber:in) / Asfour, Tamim (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Shi, Fan (Autor:in) / Kojio, Yuta (Autor:in) / Makabe, Tasuku (Autor:in) / Anzai, Tomoki (Autor:in) / Kojima, Kunio (Autor:in) / Okada, Kei (Autor:in) / Inaba, Masayuki (Autor:in)

    Kongress:

    The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022


    Erschienen in:

    Robotics Research ; Kapitel : 21 ; 304-320


    Erscheinungsdatum :

    2023-03-08


    Format / Umfang :

    17 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Bipedal Walking

    P. L. Muench / J. Alexander / S. Hadley et al. | NTIS | 2008



    BIPEDAL LOCOMOTION HAVING VARIABLE FOOTHOLD AND BIPEDAL LOCOMOTION ASSEMBLY

    LEE JONG MIN / KIM CHANG HYUN / LIM JAE WON et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    Experimental BIPedal Walking

    Azevedo, Christine / Andreff, Nicolas / Arias, Soraya et al. | Springer Verlag | 2003


    PERSONAL BIPEDAL WATERCRAFT

    BUCK DANIEL C | Europäisches Patentamt | 2017

    Freier Zugriff