脚式ロボット向けサイクロイド準直接駆動アクチュエータの設計と学習ベースのトルク推定
Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics
サイクロイドギアを準直接駆動に組み込み、高トルク・軽量な脚式ロボット用アクチュエータを設計し、ニューラルネットによるトルク推定でsim-to-realギャップを低減した。
著者: Alvin Zhu, Yusuke Tanaka, Fadi Rafeedi, Dennis Hong
分類: cs.RO
原文アブストラクト
This paper presents a novel approach through the design and implementation of Cycloidal Quasi-Direct Drive actuators for legged robotics. The cycloidal gear mechanism, with its inherent high torque density and mechanical robustness, offers significant advantages over conventional designs. By integrating cycloidal gears into the Quasi-Direct Drive framework, we aim to enhance the performance of legged robots, particularly in tasks demanding high torque and dynamic loads, while still keeping them lightweight. Additionally, we develop a torque estimation framework for the actuator using an Actuator Network, which effectively reduces the sim-to-real gap introduced by the cycloidal drive's complex dynamics. This integration is crucial for capturing the complex dynamics of a cycloidal drive, which contributes to improved learning efficiency, agility, and adaptability for reinforcement learning.
