BriefGPT.xyz
Jun, 2023
通过安全贝叶斯优化调整四肢行走控制器
Tuning Legged Locomotion Controllers via Safe Bayesian Optimization
HTML
PDF
Daniel Widmer, Dongho Kang, Bhavya Sukhija, Jonas Hübotter, Andreas Krause...
TL;DR
本文提出了一种数据驱动的策略,通过利用模型无关的安全学习算法,自动调整控制增益来简化机器人硬件平台中基于模型的控制器的部署,从而解决了控制制定中所使用的简化模型与实际系统之间的不匹配问题,并通过模拟和硬件实验验证了该方法的有效性。
Abstract
In this paper, we present a data-driven strategy to simplify the deployment of
model-based controllers
in
legged robotic hardware platforms
. Our approach leverages a model-free
→