Controlling the Solo12 quadruped robot with deep reinforcement learning

Autor: Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères

Publikováno v: Scientific Reports, Vol 13, Iss 1, Pp 1-12 (2023)

Abstract Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present an implementation of a robust end-to-end learning-based controller on the Sol

Externí odkaz: https://doaj.org/article/997d8792d09544abafab6ff69d3777a2

Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12

Autor: Felix Grimminger, Philippe Souères, Thomas Flayols, Pierre-Alexandre Leziart, Nicolas Mansard

Publikováno v: 2021 IEEE International Conference on Robotics and Automation (ICRA)
2021 IEEE International Conference on Robotics and Automation-ICRA
2021 IEEE International Conference on Robotics and Automation-ICRA, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561559⟩
ICRA
2021 IEEE International Conference on Robotics and Automation-ICRA, May 2021, Xi'an, China

International audience; This paper aims at showing the dynamic performance and reliability of the low-cost, open-access quadruped robot Solo-12, which is developed within the framework of Open Dynamic Robot Initiative. It presents the implementation

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::74f4d6e62d53e67ceb81981e884c00b8
https://hal.laas.fr/hal-03052451v2/document

Anthropomorphic Gait Generation using Differential Dynamic Programming with a Reduced Number of Cost Criteria

Autor: Philippe Souères, Bruno Watier, Melya Boukheddimi, Rohan Budhiraja

Publikováno v: The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics
The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics, Nov 2020, New York, United States. ⟨10.1109/BioRob49111.2020.9224427⟩
BioRob

International audience; Bipedal gait is the natural means of human locomotion. Nonetheless, it is still unclear how the central nervous system coordinates the whole-body segments for gait generation. We address this question based on the well-known h

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e0ec405f2c9c0fc92d439218d4b87e5c
https://hal.laas.fr/hal-02615813

Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics

Autor: Philippe Souères, François Bailly, Melya Boukheddimi, Bruno Watier

Publikováno v: IEEE International Conference on Robotics and Biomimetics (ROBIO 2019)
IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), Dec 2019, Dali, China. pp.2683-2688, ⟨10.1109/ROBIO49542.2019.8961426⟩
ROBIO

International audience; This paper shows that controlling only a small set of adequately selected tasks is sufficient to closely reproduce the human gait kinematics. To this aim, a hierarchical controller is applied to a whole-body model including 42

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f4f26a0e0806321b6e479d18715f0522
https://hal.science/hal-02455162/file/Robio_2019_415_melya.pdf

Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control

Autor: François Bailly, Bruno Watier, Philippe Souères, Melya Boukheddimi

Publikováno v: 44 congrès de la société de biomécanique
44 congrès de la société de biomécanique, l’Université de Poitiers et le CHU de Poitiers., Oct 2019, Poitiers, France. ⟨10.1080/10255842.2020.1714962⟩

International audience; In this paper, we propose to use the hierarchical tasks framework used in humanoid robotics for simulating the human gait from a reduced set of ordered tasks. We simulated human gait with a whole-body model using hierarchical

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::82d77545c420720cfb72ed1e04ebb542
https://hal.science/hal-02147549