Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics

IF 5.4 3区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Robotics & Automation Magazine Pub Date : 2024-06-01 DOI:10.1109/MRA.2023.3341257

Felix Wiebe, Shivesh Kumar, Lasse Shala, S. Vyas, M. Javadi, Frank Kirchner

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引用次数: 6

Abstract

Recent interest in the control of underactuated robots has surged significantly due to the impressive athletic behaviors shown by robots developed by, e.g., Boston Dynamics (https://www.bostondynamics.com), Agility Robotics (https://agilityrobotics.com/robots), and the Massachusetts Institute of Technology [1]. This gives rise to the need for canonical robotic hardware setups for studying underactuation and comparing learning and control algorithms for their performance and robustness. Similar to OpenAIGym [2] and Stable Baselines [3], which provide simulated benchmarking environments and baselines for reinforcement learning algorithms, there is a need for benchmarking learning and control methods on real canonical hardware setups. To encourage reproducibility in robotics and artificial intelligence research, these hardware setups should be affordable and easy to manufacture with off-the-shelf components, and the accompanying software should be open source. Acrobots and pendubots are classical textbook examples of canonical underactuated systems with strong nonlinear dynamics, and their swing-up and upright balancing is considered a challenging control problem, especially on real hardware.

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开源双用途 Acrobot 和 Pendubot 平台：欠驱动机器人控制算法基准测试

最近，由于波士顿动力公司（https://www.bostondynamics.com）、Agility Robotics 公司（https://agilityrobotics.com/robots）和麻省理工学院（Massachusetts Institute of Technology）等公司开发的机器人表现出令人印象深刻的运动行为，人们对欠驱动机器人控制的兴趣大增[1]。这就需要有典型的机器人硬件设置，用于研究不足行为，并比较学习和控制算法的性能和鲁棒性。OpenAIGym [2] 和 Stable Baselines [3] 为强化学习算法提供了模拟基准环境和基准，与之类似，我们也需要在真实的典型硬件设置上对学习和控制方法进行基准测试。为鼓励机器人和人工智能研究的可重复性，这些硬件装置应价格低廉，易于使用现成部件制造，而且配套软件应开源。杂技机器人和悬挂机器人是教科书上具有强非线性动力学的典型欠驱动系统，它们的摆动和直立平衡被认为是一个具有挑战性的控制问题，尤其是在真实硬件上。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics & Automation Magazine 工程技术-机器人学

CiteScore

8.80

自引率

1.80%

发文量

100

审稿时长

>12 weeks

期刊介绍： IEEE Robotics & Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive. The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications. IEEE Transactions on Robotics and IEEE Transactions on Automation Science and Engineering publish advances in theory and experiment that underpin the science of robotics and automation. The Magazine complements these publications and seeks to present new scientific results to the practicing engineer through a focus on working systems and emphasizing creative solutions to real-world problems and highlighting implementation details. The Magazine publishes regular technical articles that undergo a peer review process overseen by the Magazine''s associate editors; special issues on important and emerging topics in which all articles are fully reviewed but managed by guest editors; tutorial articles written by leading experts in their field; and regular columns on topics including education, industry news, IEEE RAS news, technical and regional activity and a calendar of events.