Marum, Bart van (2023) Learning Perceptive Bipedal Locomotion over Irregular Terrain. Master's Thesis / Essay, Artificial Intelligence.
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Abstract
In this thesis we propose a novel bipedal locomotion controller that uses noisy exteroception to traverse a wide variety of terrains. Building on the cutting-edge advancements in attention based belief encoding for quadrupedal locomotion, our work extends these methods to the bipedal domain, resulting in a robust and reliable internal belief of the terrain ahead despite noisy sensor inputs. Additionally, we present a reward function that allows the controller to successfully traverse irregular terrain. We compare our method with a proprioceptive baseline and show that our method is able to traverse a wide variety of terrains and greatly outperforms the state-of-the-art in terms of robustness, speed and efficiency.
Item Type: | Thesis (Master's Thesis / Essay) |
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Supervisor name: | Mohades Kasaei, S.H. and Sabatelli, M. |
Degree programme: | Artificial Intelligence |
Thesis type: | Master's Thesis / Essay |
Language: | English |
Date Deposited: | 29 Jun 2023 12:09 |
Last Modified: | 29 Jun 2023 12:09 |
URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/30171 |
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