Agility Robotics在机器人峰会和展示两个免费的模拟器，用于Cassie Bipedal机器人。模拟器将有助于评估Cassie Bipedal机器人和测试控制方法的物理能力。
In the opening keynote of the Robotics Summit, Agility Robotics co-founder and CEO Damion Shelton said a simulation library usingMujoco现在可用, while a simulator using Gazebo will be released in July 2018. The Gazebo release was slightly delayed to “get it right” and make it more robust.
模拟器对真正的Cassie Bipedal机器人进行了持续验证，并由俄勒冈州的敏捷性使用来开发自己的控制器。谢尔顿说，卡西的设计旨在在真实世界和虚拟世界中行事相同。
这是一个视频，显示了现实世界中户外步行与模拟的并排比较。
Shelton said the simulators also enable testing control methods that Agility doesn’t support in-house for the Cassie bipedal robot, such as deep learning. Testing deep learning methods on the Cassie bipedal robot in the real world would require considerable time and risks damaging the robot.
Again, because the simulators closely resemble the actual physics of the Cassie bipedal robot, deep learning testing can be performed in simulation first and later deployed to real hardware.
Here’s a video that shows how the University of British Columbia and Oregon State University used deep reinforcement learning (DRL), in simulation, for feedback control of the Cassie bipedal robot.
您可以通过深入的强化学习和Cassie Bipedal机器人在本文中阅读更多有关上述研究人员的作品的信息。通过深度加固学习的Cassie反馈控制.” Here’s the premise of the paper:
“通过将反馈控制问题制定为寻找马尔可夫决策过程的最佳模仿策略，我们可以以单个参考运动的方式将DRL应用于训练控制器，以无模型的方式进行双皮亚步行任务。DRL无需进行基于模型的简化即可实现控制策略，因此能够利用机器人的完整动力学并产生强大的控制器。我们通过引入感官延迟，在各种类型的地形上测试盲人步行以及通过应用于身体的随机推动来测试控制器的鲁棒性。可以通过在时间缩放的参考轨迹的修改版本上进行重新训练来构建机器人行走的策略。我们可以通过在这些策略之间插值来进一步使机器人加速并减速。这些结果提供了一定程度的信心，我们可以在真正的卷轴上部署经过DRL训练的控制器。”
Agility raised $8 million in Series A fundingin March 2018 to continue development of the Cassie bipedal robot. Playground Global led the round, with participation from Sony Innovation Fund and existing investor Robotics Hub. Bruce Leak, a founder of Playground Global, joined Agility’s board. Agility has raised a total of $8.792 million in funding.
Never before seen footage of@agilityrobotics卡西去远足@Robotics_Summit＃RoboticsSummit2018#robotspic.twitter.com/m0rxk2xkjr
— Steve Crowe (@SteveCrowe)May 23, 2018
Filed Under:The Robot Report,Robotics • robotic grippers • end effectors
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