심층 강화학습을 이용한 사람의 모션을 통한 이형적 캐릭터 제어기 개발

학위논문(석사) -- 서울대학교대학원 : 공과대학 컴퓨터공학부, 2022. 8. 서진욱.사람의 모션을 이용한 로봇 컨트롤 인터페이스는 사용자의 직관과 로봇의 모터 능력을 합하여 위험한 환경에서 로봇의 유연한 작동을 만들어낸다. 하지만, 휴머노이드 외의 사족보행 로봇이나 육족보행 로봇을 위한 모션 인터페이스를 디자인 하는 것은 쉬운일이 아니다. 이것은 사람과 로봇 사이의 형태 차이로 오는 다이나믹스 차이와 제어 전략이 크게 차이나기 때문이다. 우리는 사람 사용자가 움직임을 통하여 사족보행 로봇에서 부드럽게 여러 과제를 수행할 수 있게끔 하는 새로운 모션 제어 시스템을 제안한다. 우리는 우선 캡쳐한 사람의 모션을 상응하는 로봇의 모션으로 리타겟 시킨다. 이때 상응하는 로봇의 모션은 유저가 의도한 의미를 내포하게 되며, 우리는 이를 지도학습 방법과 후처리 기술을 이용하여 가능케 하였다. 그 뒤 우리는 모션을 모사하는 학습을 커리큘럼 학습과 병행하여 주어진 리타겟된 참조 모션을 따라가는 제어 정책을 생성하였다. 우리는 "전문가 집단"을 학습함으로 모션 리타게팅 모듈과 모션 모사 모듈의 성능을 크게 증가시켰다. 결과에서 볼 수 있듯, 우리의 시스템을 이용하여 사용자가 사족보행 로봇의 서있기, 앉기, 기울이기, 팔 뻗기, 걷기, 돌기와 같은 다양한 모터 과제들을 시뮬레이션 환경과 현실에서 둘 다 수행할 수 있었다. 우리는 연구의 성능을 평가하기 위하여 다양한 분석을 하였으며, 특히 우리 시스템의 각각의 요소들의 중요성을 보여줄 수 있는 실험들을 진행하였다.A human motion-based interface fuses operator intuitions with the motor capabilities of robots, enabling adaptable robot operations in dangerous environments. However, the challenge of designing a motion interface for non-humanoid robots, such as quadrupeds or hexapods, is emerged from the different morphology and dynamics of a human controller, leading to an ambiguity of control strategy. We propose a novel control framework that allows human operators to execute various motor skills on a quadrupedal robot by their motion. Our system first retargets the captured human motion into the corresponding robot motion with the operator's intended semantics. The supervised learning and post-processing techniques allow this retargeting skill which is ambiguity-free and suitable for control policy training. To enable a robot to track a given retargeted motion, we then obtain the control policy from reinforcement learning that imitates the given reference motion with designed curriculums. We additionally enhance the system's performance by introducing a set of experts. Finally, we randomize the domain parameters to adapt the physically simulated motor skills to real-world tasks. We demonstrate that a human operator can perform various motor tasks using our system including standing, tilting, manipulating, sitting, walking, and steering on both physically simulated and real quadruped robots. We also analyze the performance of each system component ablation study.1 Introduction 1 2 Related Work 5 2.1 Legged Robot Control 5 2.2 Motion Imitation 6 2.3 Motion-based Control 7 3 Overview 9 4 Motion Retargeting Module 11 4.1 Motion Retargeting Network 12 4.2 Post-processing for Consistency 14 4.3 A Set of Experts for Multi-task Support 15 5 Motion Imitation Module 17 5.1 Background: Reinforcement Learning 18 5.2 Formulation of Motion Imitation 18 5.3 Curriculum Learning over Tasks and Difficulties 21 5.4 Hierarchical Control with States 21 5.5 Domain Randomization 22 6 Results and Analysis 23 6.1 Experimental Setup 23 6.2 Motion Performance 24 6.3 Analysis 28 6.4 Comparison to Other Methods 31 7 Conclusion And Future Work 32 Bibliography 34 Abstract (In Korean) 44 감사의 글 45석

Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium

This article presents a multicontact motion adaptation framework that enables teleoperation of high degree-of-freedom robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multicontact settings. Our proposed algorithms optimize whole-body configurations and formulate the retargeting of multicontact motions as sequential quadratic programming, which is robust and stable near the edges of feasibility constraints. Our framework allows real-time operation of the robot and reduces cognitive load for the operator because infeasible commands are automatically adapted into physically stable and viable motions on the robot. The results in simulations with full dynamics demonstrated the effectiveness of teleoperating different legged robots interactively and generating rich multicontact movements. We evaluated the computational efficiency of the proposed algorithms, and further validated and analyzed multicontact loco-manipulation tasks on humanoid and quadruped robots by reaching, active pushing, and various traversal on uneven terrains

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Enabling Human-Robot Collaboration via Holistic Human Perception and Partner-Aware Control

As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of the hour, and progress in robotics holds the potential to address many societal challenges. The future socio-technical systems constitute of blended workforce with a symbiotic relationship between human and robot partners working collaboratively. This thesis attempts to address some of the research challenges in enabling human-robot collaboration. In particular, the challenge of a holistic perception of a human partner to continuously communicate his intentions and needs in real-time to a robot partner is crucial for the successful realization of a collaborative task. Towards that end, we present a holistic human perception framework for real-time monitoring of whole-body human motion and dynamics. On the other hand, the challenge of leveraging assistance from a human partner will lead to improved human-robot collaboration. In this direction, we attempt at methodically defining what constitutes assistance from a human partner and propose partner-aware robot control strategies to endow robots with the capacity to meaningfully engage in a collaborative task

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Multibody dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version

Calendar 2019-2020: Course Guide

The Academic Calendar includes the Academic Schedule, Admission Requirements and Fees, Course Descriptions, and other training opportunities. The web version is now the official Academic Calendar of Red Deer College.Universities and colleges--Alberta.Universities and colleges--Curricula--Catalogs