Symbiotic Optimization of Behavior
Final rept. Sep 2012-Dec 2014
WASHINGTON UNIV SEATTLE
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This project was part of the DARPA Virtual Robotics Challenge VRC. The goal was to control a simulated Atlas robot in the GazeboODE virtual environment and make it walk, drive a car, and connect a hose. Our approach was based on model - predictive control MPC. We created a parallel simulation in our virtual environment MuJoCo which was able to simulate the robot dynamics much faster than real - time. This made it possible to optimize the controls online -- by exploring many candidate movement strategies and finding the one that is expected to work best starting from the currently estimated state of the robot.
- Computer Programming and Software
- Human Factors Engineering and Man Machine Systems