Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning

TL;DR

This study proposes a method to realize a continuous jumping motion by reinforcement learning in simulation, and shows that the system can be applied to the actual robot RAMIEL as well as to the stable continuous jump motion in simulation.

Abstract

We have developed a parallel wire-driven monopedal robot, RAMIEL, which has both speed and power due to the parallel wire mechanism and a long acceleration distance. RAMIEL is capable of jumping high and continuously, and so has high performance in traveling. On the other hand, one of the drawbacks of a minimal parallel wire-driven robot without joint encoders is that the current joint velocities estimated from the wire lengths oscillate due to the elongation of the wires, making the values unreliable. Therefore, despite its high performance, the control of the robot is unstable, and in 10 out of 16 jumps, the robot could only jump up to two times continuously. In this study, we propose a method to realize a continuous jumping motion by reinforcement learning in simulation, and its application to the actual robot. Because the joint velocities oscillate with the elongation of the wires, they are not used directly, but instead are inferred from the time series of joint angles. At the same time, noise that imitates the vibration caused by the elongation of the wires is added for transfer to the actual robot. The results show that the system can be applied to the actual robot RAMIEL as well as to the stable continuous jumping motion in simulation.

Figures (6)

• Figure 1: Parallel wire-driven monopedal robot RAMIEL temma2022ramiel.
• Figure 2: Detailed body structure and performance of continuous jumping of RAMIEL.
• Figure 3: System architecture of reinforcement learning for simulation and the actual robot of RAMIEL.
• Figure 4: Transition of reward during training.
• Figure 5: Result of simulation experiments for Basic, Ours-1, and Ours-2 controllers.