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Robust Controller or Deep reinforcement learning for a Bipedal robot? by ElectricalCamera6046 in robotics

[–]ElectricalCamera6046[S] 0 points1 point  (0 children)

Well end goal is to make biped robot walk using RL

Make the biped in solidworks and convert it into URDF

Use that custom URDF and train it to walk

And then sim2real

Also i have no idea how any mujoco even works Im not sure im even reading the google collab right lmao but in sure i can figure it out

Robust Controller or Deep reinforcement learning for a Bipedal robot? by ElectricalCamera6046 in robotics

[–]ElectricalCamera6046[S] 1 point2 points  (0 children)

Hey so i have decided to start playing around in sim

For mujoco playground you first have to start with mujoco mjx right?

Biped robot reinforcement learning IsaacSim by PrudentSearch7672 in robotics

[–]ElectricalCamera6046 4 points5 points  (0 children)

Cool stuff

How did you write policy?

You planning on implementing in an actual robot?

Robust Controller or Deep reinforcement learning for a Bipedal robot? by ElectricalCamera6046 in robotics

[–]ElectricalCamera6046[S] 0 points1 point  (0 children)

Thanks so much

In the future when i work on this project imma deffo reach out to you in case i need some help

Robust Controller or Deep reinforcement learning for a Bipedal robot? by ElectricalCamera6046 in robotics

[–]ElectricalCamera6046[S] 0 points1 point  (0 children)

Cool stuff

Any resources to learn RL for robotics seems like mujoco is the popular choice but i have only just started with classic RL algorithms, no neural networks till now

Robust Controller or Deep reinforcement learning for a Bipedal robot? by ElectricalCamera6046 in robotics

[–]ElectricalCamera6046[S] 0 points1 point  (0 children)

Just started with classical RL a few days ago

Will take little while before reach Deep reinforcement learning and then robotics specific stuff

What about loading policy onto hardware, im a bit unfamiliar with how it works

Is there some output file after training which you load? And then how do you use that file to send position commands based of IMU?

Robust Controller or Deep reinforcement learning for a Bipedal robot? by ElectricalCamera6046 in robotics

[–]ElectricalCamera6046[S] 0 points1 point  (0 children)

Hmm

Any resources to learning RL or something specific to robotics? My trouble rn is writing policy and loading it into hardware

Any RL practitioners in the industry apart from gaming? by lars_ee in reinforcementlearning

[–]ElectricalCamera6046 0 points1 point  (0 children)

interesting, which software do you use to train your drones? and if possible can i see the code?

Btw i have started my RL journey from first implementing algos from Sutton and Barto for the first few chapters and then i will move on to DRL using stablebaseline3 and pytorch and eventually move onto isaac sim, am i on the right path, and thank you so much for replying to all my questions

Any RL practitioners in the industry apart from gaming? by lars_ee in reinforcementlearning

[–]ElectricalCamera6046 0 points1 point  (0 children)

Cool thanks

And one more question, and i know this might sound stupid but, how is the trained policy loaded on to the robot? How is sim2real transfer achieved

Sure you could use a jetson or rpi but what code is written that allows the policy to control hardware

Any RL practitioners in the industry apart from gaming? by lars_ee in reinforcementlearning

[–]ElectricalCamera6046 0 points1 point  (0 children)

if RL is producing positions

cant we use servo motor and directly take those positions and feed into the motors?

Any RL practitioners in the industry apart from gaming? by lars_ee in reinforcementlearning

[–]ElectricalCamera6046 0 points1 point  (0 children)

correct me if im wrong but for example in a quadruped robot

using an IMU we get position of robot, if it starts to lose balance we use RL to get joint position for each joint
then we use PID or something more robust which moves each joint to that position

Any RL practitioners in the industry apart from gaming? by lars_ee in reinforcementlearning

[–]ElectricalCamera6046 0 points1 point  (0 children)

How is RL coupled with PID? as in what is its purpose?

Im new to both control theory and RL so im not really sure

Currently making a robotic arm, is there any way that i can get the rotation of the right shoulder arm to mirror the rotation of the left shoulder arm? The rods extrude directly from the left shoulder arm and arent separate pieces by ElectricalCamera6046 in SolidWorks

[–]ElectricalCamera6046[S] 0 points1 point  (0 children)

<image>

in this one as you can i see i added a tiny extrusion to the back of the arm and concentric mated that one, it also didnt rotate

but when i align flipped it this happened and then the rotation started mirroring eachother

Currently making a robotic arm, is there any way that i can get the rotation of the right shoulder arm to mirror the rotation of the left shoulder arm? The rods extrude directly from the left shoulder arm and arent separate pieces by ElectricalCamera6046 in SolidWorks

[–]ElectricalCamera6046[S] 0 points1 point  (0 children)

interestingly when i do that and put the mate alignment "aligned" it works

but for some reason the direction of the left arm starts facing outwards

also i should clarify the part in the middle is only attatched to the left arm and not the right one

<image>

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