Learning agile and dynamic motor skills for legged robots

Jemin Hwangbo; Joonho Lee; Alexey Dosovitskiy; C. Dario Bellicoso; Vassilios Tsounis; Vladlen Koltun; Marco Hutter

doi:10.1126/scirobotics.aau5872

Abstract

A method for learning agile control policies uses simulated data to enable precise, efficient movements in a complex physical robot.

Keywords

Reinforcement learningRobotComputer scienceAgile software developmentLegged robotArtificial intelligenceRoboticsQuadrupedalismArtificial neural networkControl engineeringHumanoid robotSimulationEngineeringSoftware engineering

Affiliated Institutions

Related Publications

Continuous control with deep reinforcement learning

Timothy Lillicrap , Jonathan J. Hunt , Alexander Pritzel +5 more

Abstract: We adapt the ideas underlying the success of Deep Q-Learning to the continuous action domain. We present an actor-critic, model-free algorithm based on the determinist...

2016 arXiv (Cornell University) 6768 citations

Small-scale soft-bodied robot with multimodal locomotion

Wenqi Hu , Guo Zhan Lum , Massimo Mastrangeli +1 more

Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applicat...

2018 Nature 2192 citations

Microsoft robotics studio: A technical introduction

Jared Jackson

Microsoft robotics studio (MSRS) was publicly released in December 2006 with the explicit goal of providing an industry software standard for robot control. To become a viable s...

2007 IEEE Robotics & Automation Magazine 220 citations

Automatic programming of behavior-based robots using reinforcement learning

Sridhar Mahadevan , Jonathan H. Connell

1992 Artificial Intelligence 150 citations

Impedance Control: An Approach to Manipulation

Neville Hogan

Manipulation fundamentally requires a manipulator to be mechanically coupled to the object being manipulated. A consideration of the physical constraints imposed by dynamic inte...

1984 2833 citations

Publication Info

Year: 2019
Type: article
Volume: 4
Issue: 26
Citations: 1271
Access: Closed

External Links

View on DOI.org

Social Impact

Altmetric

Learning agile and dynamic motor skills for legged robots

PlumX Metrics

Social media, news, blog, policy document mentions

Citation Metrics

1271

OpenAlex

Cite This

APA Style

                            
                                
                                    Jemin Hwangbo, 
                                
                                    Joonho Lee, 
                                
                                    Alexey Dosovitskiy
                                
                                et al.
                            
                            (2019). 
                            Learning agile and dynamic motor skills for legged robots. 
                            Science Robotics
                            , 4
                            (26)
                            .
                            https://doi.org/10.1126/scirobotics.aau5872
                        

Identifiers

DOI: 10.1126/scirobotics.aau5872