Learning agile and dynamic motor skills for legged robots
نویسندگان
چکیده
منابع مشابه
Optimization of dynamic motions for legged robots
Legged robots and animals can exhibit a variety of locomotory skills, trotting and walking being the most widely used modes of locomotion. Such behaviours are often defined with the overall stability of the system in mind and are inherently of periodic nature. Legged robots, possibly equipped with arms as well, in everyday scenarios, e.g. service or forestry/agriculture, will require also skill...
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Recent developments in legged robotics have found that constant stiffness passive compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its success, one of the limitations of this approach is reduced adaptability. The final leg mechanism usually performs optimally for a small range of conditions such as the desired speed, payload, and terrain. For many situation...
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SUMMARY As the technology of computer animation and robotics advances, controlling highly dynamic motions has been a great milestone for both virtual and real hu-manoid characters. However, developing controllers for dynamic motor skills is still a challenging problem, which usually requires substantial amount of design effort and optimization time due to its complexity. In this proposal, we in...
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ژورنال
عنوان ژورنال: Science Robotics
سال: 2019
ISSN: 2470-9476
DOI: 10.1126/scirobotics.aau5872