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Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Sunwoo | - |
dc.contributor.author | Sorokin, Maks | - |
dc.contributor.author | Lee, Jehee | - |
dc.contributor.author | Ha, Sehoon | - |
dc.date.accessioned | 2022-10-11T00:30:36Z | - |
dc.date.available | 2022-10-11T00:30:36Z | - |
dc.date.created | 2022-09-30 | - |
dc.date.issued | 2022-06 | - |
dc.identifier.citation | Robotics: Science and Systems | - |
dc.identifier.issn | 2330-7668 | - |
dc.identifier.uri | https://hdl.handle.net/10371/185662 | - |
dc.description.abstract | A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as quadrupeds or hexapods, is not straightforward because different dynamics and control strategies govern their movements. We propose a novel motion control system that allows a human user to operate various motor tasks seamlessly on a quadrupedal robot. We first retarget the captured human motion into the corresponding robot motion with proper semantics using supervised learning and post-processing techniques. Then we apply the motion imitation learning with curriculum learning to develop a control policy that can track the given retargeted reference. We further improve the performance of both motion retargeting and motion imitation by training a set of experts. As we demonstrate, a user can execute various motor tasks using our system, including standing, sitting, tilting, manipulating, walking, and turning, on simulated and real quadrupeds. We also conduct a set of studies to analyze the performance gain induced by each component.(Video(1)) | - |
dc.language | 영어 | - |
dc.publisher | Robotics: Science and Systems | - |
dc.title | Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning | - |
dc.type | Article | - |
dc.citation.journaltitle | Robotics: Science and Systems | - |
dc.identifier.wosid | 000827625700021 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | Lee, Jehee | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 1 | - |
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