Combining Simulations and Real-robot Experiments for Bayesian Optimization of Bipedal Gait Stabilization

09/14/2018
by   Diego Rodriguez, et al.
0

Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on the other hand, are more expensive and lead to hardware wear-off. In this paper, we propose an approach for combining simulations and real experiments to learn gait stabilization parameters. We use a Bayesian optimization method which selects the most informative points in parameter space to evaluate based on the entropy of the cost function to optimize. Experiments with the igus Humanoid Open Platform demonstrate the effectiveness of our approach.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
05/07/2018

Using Simulation to Improve Sample-Efficiency of Bayesian Optimization for Bipedal Robots

Learning for control can acquire controllers for novel robotic tasks, pa...
research
07/30/2022

Bipedal Locomotion Optimization by Exploitation of the Full Dynamics in DCM Trajectory Planning

Walking motion planning based on Divergent Component of Motion (DCM) and...
research
01/25/2021

Scaffolded Gait Learning of a Quadruped Robot with Bayesian Optimization

During learning trials, systems are exposed to different failure conditi...
research
01/21/2020

Learning Directed Locomotion in Modular Robots with Evolvable Morphologies

We generalize the well-studied problem of gait learning in modular robot...
research
07/20/2022

Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots

Model Predictive Control (MPC) approaches are widely used in robotics, s...
research
10/11/2019

Bayesian Optimization Meets Riemannian Manifolds in Robot Learning

Bayesian optimization (BO) recently became popular in robotics to optimi...
research
01/06/2022

Bayesian Optimization Based Trustworthiness Model for Multi-robot Bounding Overwatch

In multi-robot system (MRS) bounding overwatch, it is crucial to determi...

Please sign up or login with your details

Forgot password? Click here to reset