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Robot control and physics feedback

asked 2016-01-09 07:24:07 -0500

sanjeevmk gravatar image

I have a machine learning project for robot controllers and I want to know if Gazebo is the right platform to use.

My project is as follows:

Its a reinforcement learning project where I need to make a robot learn how to walk. I would control the robots leg joints to make it walk (rotate the leg joints specifically). Let say I designed some stairs in my world and I want to make the robot go up the stairs. I should be able to rotate the leg joints appropriately to do so. If I do a wrong rotation, then the physics should make the robot fall. I should be able to sense the physics environment and be able to make the decision that the robot is about to fall. Then I'd take corrective measures by rotating the robot joints in some other better way.

For example, to climb stairs I need to rotate the knee joints and the thigh-torso joint. If I only rotate the thigh-torso joint without the knee joint, then the robot should start falling since that is an incorrect way of climbing stairs - and the physics simulation should take care of this and give me appropriate sensor feedback.

Can I do this sort of thing with Gazebo?

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answered 2016-01-09 12:16:10 -0500

Anand George gravatar image

Gazebo is an advanced robotic simulation software. You can simulate your biped as your requirements. After making the model you can attach plugins for controlling your robot. Attach sensors to the model for getting its state and make decisions according to it. You can change various physics properties associated with the world too. You may feel difficulties in the beginning but this software will fulfil your needs for simulating the robot.

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Asked: 2016-01-09 07:24:07 -0500

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Last updated: Jan 09 '16