This article presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque–speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in the training process to reduce state transitions that are infeasible in the real world due to motor torque–speed limitations. The gait … [Read more...] about Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region
Actuators
GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning
Humans can autonomously learn the relationship between sensation and motion in their own bodies, estimate and control their own body states, and move while continuously adapting to the current environment. On the other hand, current robots control their bodies by learning the network structure described by humans from their experiences, making certain assumptions on the … [Read more...] about GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning
Variable Transmission Mechanisms for Robotic Applications: A Review [Survey]
Actuators play a crucial role in robotics, determining the force and speed capabilities necessary for varied tasks, directly affecting the performance of the robotic system. With the growing reliance on robotics in both industrial applications and daily life, innovative actuator research has expanded significantly. Despite advances, traditional actuators encounter limitations … [Read more...] about Variable Transmission Mechanisms for Robotic Applications: A Review [Survey]
Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations
Despite the prevalence of robots operating within controlled environments, such as industries, recent advancements in both autonomy and human–robot interaction have expanded the potential for their use within a diverse range of scenarios. Research efforts in humanoid robotics aim to develop platforms possessing the requisite versatility and dexterity to mimic human motion. This … [Read more...] about Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations
SofToss: Learning to Throw Objects With a Soft Robot
In this paper, we present, for the first time, a soft robot control system (SofToss) capable of throwing life-size objects toward target positions. SofToss is an open-loop controller based on deep reinforcement learning that generates, given the target position, an actuation pattern for the tossing task. To deal with the high non-linearity of the dynamics of soft robots, we … [Read more...] about SofToss: Learning to Throw Objects With a Soft Robot
