Bipedal robots can walk and run on different terrains and show great capacity in fast-moving. However, it’s still a daunting challenge for them to achieve highly dynamic whole-body motions such as jumping. In this paper, we propose a method to learn high jump skills for humanoid robots, and the effectiveness of the method is verified through simulations on the Ranger Max humanoid robot model. Both 2D and 3D jumping locomotion for the one-legged and two-legged Ranger Max robots are generated naturally and stably with different scales of maximum motor output torque limit. A curriculum learning strategy inspired by the idea of “recovery from injury” is proposed to make the learning of the high jump more efficient for “weaker” robots, which is confirmed by the simulation results.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Recovery from Injury: Learning Bipedal Jumping Skills with a Motor Output Torque Limit Curriculum


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Li, Jiayi (Autor:in) / Ye, Linqi (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Reference-Free Learning Bipedal Motor Skills via Assistive Force Curricula

    Shi, Fan / Kojio, Yuta / Makabe, Tasuku et al. | Springer Verlag | 2023


    Learning Complex Motor Skills for Legged Robot Fall Recovery

    Yang, C / Pu, C / Xin, G et al. | BASE | 2023

    Freier Zugriff

    Bipedal Walking

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


    Motor output torque control method, motor controller and vehicle

    ZHU YANBO / DAI KANGWEI / LIANG HAIQIANG | Europäisches Patentamt | 2020

    Freier Zugriff