Sim-to-Real Transfer for Biped Locomotion

@article{Yu2019SimtoRealTF,
  title={Sim-to-Real Transfer for Biped Locomotion},
  author={Wenhao Yu and V. Kumar and Greg Turk and C. Liu},
  journal={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2019},
  pages={3503-3510}
}
  • Wenhao Yu, V. Kumar, +1 author C. Liu
  • Published 2019
  • Engineering, Computer Science
  • 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • We present a new approach for transfer of dynamic robot control policies such as biped locomotion from simulation to real hardware. Key to our approach is to perform system identification of the model parameters $\mu$ of the hardware (e.g. friction, center-of-mass) in two distinct stages, before policy learning (pre-sysID) and after policy learning (post-sysID). Pre-sysID begins by collecting trajectories from the physical hardware based on a set of generic motion sequences. Because the… CONTINUE READING
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