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Tele Running - Energy Efficient Locomotion for Elastic Joint Robots by Imitation Learning

Wandinger, David (2023) Tele Running - Energy Efficient Locomotion for Elastic Joint Robots by Imitation Learning. DLR-Interner Bericht. DLR-IB-RM-OP-2023-70. Bachelor's. University of Applied Sciences Munich.

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This thesis presents an imitation learning approach to energy-efficient trajectory generation for elastic, legged robots. The trajectories are generated by teleoperation with force feedback. The presented framework allows an operator to achieve locomotion on an one-leg hopper by controlling its foot tip. The force feedback is designed to assist the operator to find gaits which exploit the natural harmonics of the hopper and thus improve energy efficiency. The resulting trajectory is approximated, parameterized, and replayed on the robot. The operator achieves a cost of transport of 0.25 at 0.63 m/s, considering the mechanical energy. Black-box optimization is used to keep this value with varying hardware parameters, such as different foot-tip stiffness. A reinforcement learning algorithm stabilizes lateral movement by active balance in simulation. Learning on hardware shows an improvement in stability. The concept is extended to multi-legged robots by teleoperating the two feet of the biped DLR C-Runner in simulation. The force feedback assists the operator to find stable gaits where the center of mass does not leave the support polygon of the feet. On both systems, the presented teleoperation framework utilizes the human's capability of estimating the properties of non-linear dynamics by designing appropriate haptic feedback.

Item URL in elib:https://elib.dlr.de/195831/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:Tele Running - Energy Efficient Locomotion for Elastic Joint Robots by Imitation Learning
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Wandinger, DavidUNSPECIFIEDhttps://orcid.org/0000-0002-3150-8822138028951
Date:22 February 2023
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Legged Robots; Cost of Transport; Black-Box Optimization; Reinforcement Learning; Humanoids
Institution:University of Applied Sciences Munich
Department:Department of Applied Sciences and Mechatronics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Wandinger, David
Deposited On:04 Jul 2023 12:22
Last Modified:04 Jul 2023 12:22

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