Learning Perceptive Bipedal Locomotion over Irregular Terrain

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)
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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