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Mar, 2019
双足行走的模拟到现实转移
Sim-to-Real Transfer for Biped Locomotion
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Wenhao Yu, Visak CV Kumar, Greg Turk, C. Karen Liu
TL;DR
本文提出了一种新的方法将动态机器人控制策略(例如双足步态)从仿真传输到实际机器人硬件中,并使用预-系统辨识和后-系统辨识的两个阶段进行系统辩识,其中采用了基于贝叶斯优化的投影通用策略作为主体来控制机器人。
Abstract
We present a new approach for transfer of
dynamic robot control policies
such as
biped locomotion
from simulation to real hardware. Key to our approach is to perform
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