8 жыл бұрын
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@jiaminghu5738 3 жыл бұрын
amazing work
@willy8203931 4 жыл бұрын
awesome
@yidongmei4679 4 жыл бұрын
Impressive work!! I wonder if there are some videos about real robots on more complex terrains?
@weili3188 4 жыл бұрын
May I ask that what is this mobile robot? Or you build this on your own?
@pratikprajapati8620 5 жыл бұрын
You are amazing hatzzzzz. offff
@gondala 5 жыл бұрын
I am curious if this robot also using "virtual" sensors i.e. it is very useful in real world?
@dhayaaraissankhudher5743 6 жыл бұрын
Very impressive. What is the simulator?
@alexanderwinkler6821 6 жыл бұрын
The first clips are visualization using ros-rviz and wiki.ros.org/xpp, the simulations are done in Gazebo.
@dhayaaraissankhudher5743 6 жыл бұрын
Many thanks indeed!
@hyd4087 6 жыл бұрын
Nice work!
@jamieh6084 6 жыл бұрын
Was this trained using simulated imperfections in the aforementioned areas (force tracking and sensor data?) If not I would be interesting to see if it copes better in reality.
@nezv71 6 жыл бұрын
I think "trained" is the wrong word here. The gait trajectory generation is posed as a nonlinear programming problem and solved iteratively. A new problem is solved for every plan. The plans are then tracked by a feedback controller to help with disturbances / imperfections.
@jamieh6084 6 жыл бұрын
Thank you for clearing that up for me and explaining the iterative nature. I was thinking more along the neural network path, so I thought it was being "trained". Very interesting
@xiaohanfei4578 6 жыл бұрын
Great work! We actually have something similar to this in cvpr17.
@carlosmacedo4792 6 жыл бұрын
Useful!
@jamieh6084 7 жыл бұрын
What about combining with tango AR unit? More robust inside out tracking, for when it goes mobile.
@jamieh6084 7 жыл бұрын
Does this work with 3D co-ordinates on a surface? Or is it limited to 2D. Thank you
@ADRLabETH 7 жыл бұрын
The approach would generally allow 3D by introducing additional optimization variables (e.g. body height and orientation) and the foothold height must be adapted to height of the terrain at that xy-position. But this is an idea for future work currently not implemented.
@marknabil9978 7 жыл бұрын
I didn't read the paper yet, but I have a small question. you don't need to know the location of the marker predefined to run your algorithm, Am i correct ? . It looks impressive and promising anyways, thx for sharing it.
@Usman-zp6ig 8 жыл бұрын
Hi. I am curious to know which transcription method you used in particular and your experience when solving the NLP by an interior point method. I am currently using the SNOPT implementation of sqp to solve my discretized optimal control problem. Although the solver appears to find a local minimum, I am unable to determine (using the output of SNOPT) whether the local minimum is indeed a stable solution. I would be grateful to know if you've undertaken such analyses. Many thanks. Usman
@yasbeel6736 9 жыл бұрын
Hi I saw your video it is quite impressive and I'm interesting. could you please send me your model and code. If you agree see my email is [email protected] I'm looking forward to hear from you Regards Yaser
@user-ic8ly7km1i 9 жыл бұрын
what is this simulation tool