Learned agent on real quadruped with sensor

[hellocarolin]

Hi @YunjaeChoi, great work! I also built a quadruped robot and tried to let the learned model run on the real quadruped. I adjusted everything so that my quadruped moves the same as in the simulation when running quadruped_gazebo_act.py. When running quadruped_act.py my quadruped does not do the same as in simulation and does not seem to consider the sensor data correctly. I also use the same BNO055 sensor. Have you encountered anything similar or could you guess what the problem might be?? Thank you very much in advance!

[YunjaeChoi]

Hi, I think the problem might be one of these,

1. Sensor calibration or sensor orientation

• Check if sensor input data is similar to the simulation. The orientation can be different.

2. Servo motor position

• If your servo motor does not have a position feedback for the model's input, try using servo motors with it.

3. Difference in simulation to real quadruped

• Minimizing the difference is always helpful. ex) If sensor is attached at the same location? Is the weights of the parts are the same? etc.

Thanks, Yunjae Choi.

2019년 11월 9일 (토) 오후 11:38, hellocarolin [email protected]님이 작성:

Hi @YunjaeChoi https://github.com/YunjaeChoi, great work! I also built a quadruped robot and tried to let the learned model run on the real quadruped. I adjusted everything so that my quadruped moves the same as in the simulation when running quadruped_gazebo_act.py. When running quadruped_act.py my quadruped does not do the same as in simulation and does not seem to consider the sensor data correctly. I also use the same BNO055 sensor. Have you encountered anything similar or could you guess what the problem might be?? Thank you very much in advance!

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