DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 황보제민 | - |
dc.contributor.author | Jeon, Seunghun | - |
dc.contributor.author | 전승훈 | - |
dc.date.accessioned | 2024-07-30T19:30:23Z | - |
dc.date.available | 2024-07-30T19:30:23Z | - |
dc.date.issued | 2024 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1095873&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/321285 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 기계공학과, 2024.2,[iv, 25 p. :] | - |
dc.description.abstract | We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures manipulation-relevant information from interactions, proprioception, and action history, allowing the robot to implicitly understand object properties. We evaluate our framework in both simulation and real-world scenarios. In the simulation, it achieves a success rate of 93.6 % in accurately re-positioning and re-orienting various objects within a tolerance of 0.03 m and 5 ◦. Real-world experiments demonstrate the successful manipulation of objects such as a 19.2 kg water-filled drum and a 15.3 kg plastic box filled with heavy objects while the robot weighs 27 kg. Unlike previous works that focus on manipulating small and light objects using prehensile manipulation, our framework illustrates the possibility of using quadrupeds for manipulating large and heavy objects that are ungraspable with the robot’s entire body. Our method does not require explicit object modeling and offers significant computational efficiency compared to optimization-based methods. The video can be found at https://youtu.be/fO_PVr27QxU. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | 강화학습▼a보행 로봇▼a심층 학습 방법 | - |
dc.subject | Reinforcement learning▼aLegged robots▼aDeep learning methods | - |
dc.title | Learning whole-body manipulation for quadrupedal robot | - |
dc.title.alternative | 사족 보행 로봇을 위한 전신 조작 학습 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :기계공학과, | - |
dc.contributor.alternativeauthor | Hwangbo, Jemin | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.