Description du projet
Les robots au service de la locomotion
L’industrie robotique a été la pierre angulaire des processus industriels automatisés que nous connaissons actuellement. Il s’agit de l’un des sujets les plus étudiés à la recherche d’applications pour le secteur industriel et commercial. Les mécanismes des jambes fonctionnelles ont récemment fait l’objet de nombreuses recherches, car ils fournissent aux robots une mobilité accrue et la capacité de s’adapter à la plupart de terrains. Toutefois, ces progrès font face à des limites lorsqu’il s’agit de situations complexes. Le projet LeMo, financé par l’UE, prévoit de trouver des méthodes grâce auxquelles les comportements appris peuvent être transférés directement des simulations aux robots pour leur apporter des capacités motrices plus avancées. De cette manière, il vise à surmonter les limites actuelles, permettant ainsi de mieux comprendre la locomotion des robots.
Objectif
Research and applications in legged robotics has made significant progress over the last decade, driven by more advanced actuation systems, better on-board computation, and significantly improved sensors for perceiving the environment. State-of-the-art model-based planning and control algorithms can plan for contact points and body motions to move legged systems over complex environments. However, these methods have shown clear performance limits when it comes to behaviours and situations that are more complex, and it is unclear if and how these limits can be overcome with classical control methods. On the other hand, recent advances in reinforcement learning has put forward unprecedented capabilities to learn control policies for complex behaviours.
With our preliminary findings, we were the first group to present methods that allow directly transferring learned behaviours from simulation to reality to create advanced motion skills for complex legged robots. This breakthrough has the potential to revolutionize the field of legged locomotion control. In this ERC project, we want to research this highly promising area and investigate the use of machine learning tools to make legged robots autonomously move in realistic outdoor scenarios. In three parallel research streams, we will learn how to accurately model the system dynamics from experience, how to abstractify, generate and coordinate different complex behaviours that involve multi-contact situations, and how to combine these with perception to enable autonomous navigation in complex environments. The proposed methods have the potential to overcome the limitations of commonly used optimization-based methods such as limited model accuracy, local minima, conservative performance, computational load and execution time, and it will help us to better understand the fundamentals of locomotion in robots and biology.
Champ scientifique
- natural sciencescomputer and information sciencesartificial intelligencemachine learningreinforcement learning
- engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringsensors
- engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringrobotics
Programme(s)
Thème(s)
Régime de financement
ERC-STG - Starting GrantInstitution d’accueil
8092 Zuerich
Suisse