Azumi Maekawa
ABSTRACT
We present a biped robot which can move agiler than conventional robots. Our robot can generate bipedal walking motion automatically using the proposed method. By using a quadrotor for balance and movement it is possible to make an agiler movement, and generate a gait interactively and in real time according to the motion of the quadrotor using the optimized control policy of the legs. Our system takes the velocity of the quadrotor as an input and legs motions are produced so that the velocity of the foot in contact with the ground to zero, and bipedal walking motion is generated. The control policy is optimized using reinforcement learning with a physics engine.
Supplemental Material
- Stelian Coros, Bernhard Thomaszewski, Gioacchino Noris, Shinjiro Sueda, Moira Forberg, Robert W Sumner, Wojciech Matusik, and Bernd Bickel. 2013. Computational design of mechanical characters. ACM Transactions on Graphics (TOG) 32, 4 (2013), 83. Google Scholar
Digital Library
- Sepehr Ghassemi and Dennis Hong. 2016. Feasibility study of a novel robotic system BALLU: Buoyancy assisted lightweight legged unit. In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on. IEEE, 144--144.Google ScholarDigital Library
- Daniel Holden, Taku Komura, and Jun Saito. 2017. Phase-functioned neural networks for character control. ACM Transactions on Graphics (TOG) 36, 4 (2017), 42. Google ScholarDigital Library
- Xue Bin Peng, Glen Berseth, KangKang Yin, and Michiel Van De Panne. 2017. Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning. ACM Transactions on Graphics (TOG) 36, 4 (2017), 41. Google ScholarDigital Library
- Bernhard Thomaszewski, Stelian Coros, Damien Gauge, Vittorio Megaro, Eitan Grinspun, and Markus Gross. 2014. Computational design of linkage-based characters. ACM Transactions on Graphics (TOG) 33, 4 (2014), 64. Google ScholarDigital Library
Index Terms
- Aerial-biped: a new physical expression by the biped robot using a quadrotor
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