Sim-to-Real Transfer for Biped Locomotion

Wenhao Yu
Wenhao Yu
Visak C. V. Kumar
Visak C. V. Kumar

arXiv: Robotics, pp. 3503-3510, 2019.

Cited by: 10|Bibtex|Views49|DOI:https://doi.org/10.1109/IROS40897.2019.8968053
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Other Links: dblp.uni-trier.de|academic.microsoft.com|arxiv.org

Abstract:

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...More

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