Hey there, i am currently working on a Project (SpotMicroAI) where i want to use ReinforcementLearning to make a four-legged Robot walk (or maybe just support its motions with RL, not sure yet). I like the idea of this Paper https://arxiv.org/pdf/1804.10332 and try to implemen…

Hello @fwilk ! I hope you are well. I haven’t had the opportunity to work with FourLegged Robots and DRL, but I have implemented several control algorithms. For that, I used ROS and OpenAI. Also, depending on the simulator that you use OpenAI allows you to create your own work …

Hey @RoboCS thanks for your reply! i was using ROS (Gazebo), too. Right now i am using PyBullet to verify the Kinematics and Control, and because i have faster dev-cycles here. Gazebo hates stops/starts soo much :slight_smile: I am working with ROS for a while now and i really …

Hello @fwilk ! The ActionSpace could then be a roll/pitch/yaw/position of the “MainBody”, so RL could help the bot to Balance while it is doing the “static Kinematic”-Stuff. Yeah, I actually think that’s the hardest part, modeling the action space. I think you could start try…

Hey @RoboCS , very cool. looking forward to see what you found out. regarding the rewards one solution might be to give rewards when pitch+roll < 10° / 20° … distance to the ground is between x and y (makes no sense to try crawling or walking “high up in the air”) time without…

Here is a YouTube-Video of the current state without RL:

Hey @fwilk ! That seems pretty nice already! Did you try to run or test that simulation in your own robot?

Hey @RoboCS You mean the physical Bot? Yes i tested the kinematics before and it looked pretty cool. But i did not test the gait yet. Will do after i reassembled the Bot. I am currently measuring weights of the Parts for more realism in the Sim.

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ReinforcementLearning for FourLegged Robots

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igor_X June 9, 2019, 7:37pm 9

pretty cool dance