Task Feasibility Maximization Using Model-Free Policy Search and Model-Based Whole-Body Control

Lober, Ryan and Sigaud, Olivier and Padois, Vincent (2020) Task Feasibility Maximization Using Model-Free Policy Search and Model-Based Whole-Body Control. Frontiers in Robotics and AI, 7. ISSN 2296-9144

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Abstract

Producing feasible motions for highly redundant robots, such as humanoids, is a complicated and high-dimensional problem. Model-based whole-body control of such robots can generate complex dynamic behaviors through the simultaneous execution of multiple tasks. Unfortunately, tasks are generally planned without close consideration for the underlying controller being used, or the other tasks being executed, and are often infeasible when executed on the robot. Consequently, there is no guarantee that the motion will be accomplished. In this work, we develop a proof-of-concept optimization loop which automatically improves task feasibility using model-free policy search in conjunction with model-based whole-body control. This combination allows problems to be solved, which would be otherwise intractable using simply one or the other. Through experiments on both the simulated and real iCub humanoid robot, we show that by optimizing task feasibility, initially infeasible complex dynamic motions can be realized—specifically, a sit-to-stand transition. These experiments can be viewed in the accompanying Video S1.

Item Type: Article
Subjects: Souths Book > Mathematical Science
Depositing User: Unnamed user with email support@southsbook.com
Date Deposited: 11 Jul 2023 05:06
Last Modified: 17 May 2024 11:08
URI: http://research.europeanlibrarypress.com/id/eprint/1319

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