並列ワイヤ駆動単脚ロボットRAMIELの強化学習による連続跳躍
Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning
ワイヤ伸びで関節速度が振動する並列ワイヤ駆動単脚ロボットに対し、関節角度の時系列から速度を推定し、ワイヤ伸び由来のノイズを加えた強化学習で連続跳躍を実現した。
著者: Kento Kawaharazuka, Temma Suzuki, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
We have developed a parallel wire-driven monopedal robot, RAMIEL, which has both speed and power due to the parallel wire mechanism and a long acceleration distance. RAMIEL is capable of jumping high and continuously, and so has high performance in traveling. On the other hand, one of the drawbacks of a minimal parallel wire-driven robot without joint encoders is that the current joint velocities estimated from the wire lengths oscillate due to the elongation of the wires, making the values unreliable. Therefore, despite its high performance, the control of the robot is unstable, and in 10 out of 16 jumps, the robot could only jump up to two times continuously. In this study, we propose a method to realize a continuous jumping motion by reinforcement learning in simulation, and its application to the actual robot. Because the joint velocities oscillate with the elongation of the wires, they are not used directly, but instead are inferred from the time series of joint angles. At the same time, noise that imitates the vibration caused by the elongation of the wires is added for transfer to the actual robot. The results show that the system can be applied to the actual robot RAMIEL as well as to the stable continuous jumping motion in simulation.
