Getting Started with Humanoid Robots - Revision history

Vrtnis: /* Add wikilink to MuJoCo (MJX) */

2024-05-16T20:23:55Z

‎Add wikilink to MuJoCo (MJX)

Vrtnis: /* Added wiki-link to RL page */

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‎Added wiki-link to RL page

Vrtnis: /* Best Practices for Virtual Testing */

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‎Best Practices for Virtual Testing

Vrtnis: /* Experimenting with Your Humanoid Robot */

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‎Experimenting with Your Humanoid Robot

Vrtnis: /* Building Your Humanoid Robot */

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‎Building Your Humanoid Robot

Vrtnis: /* Open Source Projects */

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‎Open Source Projects

Vrtnis: /* Series Elastic and Quasi-Direct Drive Actuators */

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‎Series Elastic and Quasi-Direct Drive Actuators

Vrtnis: /* Series Elastic and Quasi-Direct Drive Actuators */

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‎Series Elastic and Quasi-Direct Drive Actuators

Vrtnis: /* Series Elastic and Quasi-Direct Drive Actuators */

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‎Series Elastic and Quasi-Direct Drive Actuators

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‎Series Elastic and Quasi-Direct Drive Actuators

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 ====== MuJoCo (MJX)======
-Offers a lightweight open-source alternative, supporting maximal coordinate constraints and easier to work with.  The MuJoCo_MPC repository, created by Google DeepMind, is a toolset that combines Model Predictive Control (MPC) with the MuJoCo physics engine to create real-time behavior synthesis. With the advanced MJX extension, which uses GPU acceleration, it can simulate multiple environments in parallel. One approach is to try to replicate the techniques detailed in the AMP (Adversarial Motion Priors) paper to achieve agile humanoid behavior. For example, implementing a humanoid get-up sequence, which matches what was described in the AMP research.
+Offers a lightweight open-source alternative, supporting maximal coordinate constraints and easier to work with.  The MuJoCo_MPC repository, created by Google DeepMind, is a toolset that combines Model Predictive Control (MPC) with the [[MuJoCo]] physics engine to create real-time behavior synthesis. With the advanced MJX extension, which uses GPU acceleration, it can simulate multiple environments in parallel. One approach is to try to replicate the techniques detailed in the AMP (Adversarial Motion Priors) paper to achieve agile humanoid behavior. For example, implementing a humanoid get-up sequence, which matches what was described in the AMP research.
 There’s been collaboration between different projects, like Stompy, to get humanoid simulations up and running. You could try converting Gymnasium to handle the URDF (Universal Robot Description Format) file format. Although converting to MJCF (MuJoCo's XML-based format) may present some challenges, we can still get it to work and refine the motor and actuator setup.
-Although MuJoCo can be slower in single-environment simulations, the MJX extension and its parallel processing potential make it a solid competitor. Compared to enviroments, like NVIDIA's Isaac Gym, MuJoCo might stand out for its extensibility and rapid development. One goal could be to try recreate the walking, running, and getting-up behaviors described in the AMP paper and use them as a foundation for training robust humanoid movements in simulation.
+Although [[MuJoCo]] can be slower in single-environment simulations, the MJX extension and its parallel processing potential make it a solid competitor. Compared to enviroments, like NVIDIA's Isaac Gym, MuJoCo might stand out for its extensibility and rapid development. One goal could be to try recreate the walking, running, and getting-up behaviors described in the AMP paper and use them as a foundation for training robust humanoid movements in simulation.
 ====== VSim ======

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 ====== Isaac Gym ======
-Reinforcement Learning Training: Enables parallel environments for fast policy training.
+[[Reinforcement Learning]] Training: Enables parallel environments for fast policy training.
 PHC Approach: Integrates AMP for real-time pose control, making it easier to teach new skills.

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 By understanding the nuances and strengths of each simulator, developers can refine their humanoid robots effectively. Using Isaac Sim, Isaac Gym, and complementary tools, a robust simulation approach ensures smooth virtual-to-physical transferability while reducing development time and costs.
-More resources are available at [https://humanoids.wiki/w/Learning_algorithms]
+More resources are available at [https://humanoids.wiki/w/Learning_algorithms Learning Algorithms]
 == Real-World Testing ==

← Older revision		Revision as of 19:57, 7 May 2024
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	By understanding the nuances and strengths of each simulator, developers can refine their humanoid robots effectively. Using Isaac Sim, Isaac Gym, and complementary tools, a robust simulation approach ensures smooth virtual-to-physical transferability while reducing development time and costs.		By understanding the nuances and strengths of each simulator, developers can refine their humanoid robots effectively. Using Isaac Sim, Isaac Gym, and complementary tools, a robust simulation approach ensures smooth virtual-to-physical transferability while reducing development time and costs.
		+
		+	More resources are available at [https://humanoids.wiki/w/Learning_algorithms]

	== Real-World Testing ==		== Real-World Testing ==

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 == Building Your Humanoid Robot ==
-In humanoid robotics, choosing the right components, for example, actuators and gearboxes is crucial. Folks can use planetary and cycloidal gear actuators for their precision and strength, along with Series Elastic and Quasi-Direct Drive actuators for smoother, more natural movements. Advanced designs like the MIT Cheetah actuator push the boundaries with fast, agile movements. Projects like the SPIN initiative are also key, as they make high-quality actuator technology more accessible, helping the field evolve and improve.
+In humanoid robotics, choosing the right components, for example, actuators and gearboxes is crucial. Folks can use planetary and cycloidal gear actuators for their precision and strength, along with Series Elastic and Quasi-Direct Drive actuators for smoother, more natural movements. Advanced designs like the [https://humanoids.wiki/w/MIT_Cheetah MIT Cheetah] actuator push the boundaries with fast, agile movements. Projects like the SPIN initiative are also key, as they make high-quality actuator technology more accessible, helping the field evolve and improve.
 == Actuators and Gearboxes ==

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 == Advanced Customization and Community Engagement ==
 === Open Source Projects ===
-Contribute to or start your own open-source project. For instance, platforms like GitHub host numerous projects where you can collaborate with others such as K-Scale https://github.com/kscalelabs
+Contribute to an open-source project. For instance, platforms like GitHub host numerous projects where you can collaborate with others such as K-Scale https://github.com/kscalelabs. Check out [https://humanoids.wiki/w/Stompy Stompy!]
 === Modular Design ===
 Engage in modular robot design to easily swap components or aesthetics. This approach allows for extensive customization and upgrades over time.

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 Some things to consider:
-The springs in SEAs are where the magic happens. Choosing the right stiffness is a balancing act between getting precise torque control and avoiding sluggish responses.
+The springs in SEAs are where the magic happens. Choosing the right stiffness is a balancing act between getting precise torque control and avoiding sluggish responses. Since the spring is constantly flexing, you need sensors tuned to give accurate torque measurements. Do it regularly, and you'll keep those movements smooth and predictable. You want finely-tuned control loops to make SEAs shine. A high-frequency loop can make your robot more agile in handling external forces. PID controllers are a solid starting point, or you can try out some advanced strategies.
-Calibration is your best buddy. Since the spring is constantly flexing, you need sensors tuned to give accurate torque measurements. Do it regularly, and you'll keep those movements smooth and predictable.
+Friction can really impact your torque control, especially in gearboxes and linkages. Using low-friction components and proper lubrication will help keep everything moving smoothly. Make sure your spring is positioned directly between the actuator and the joint. If not, your robot won’t get the full benefit of force sensing, and that precision will be lost.If your robot is doing a lot of high-impact activities, the springs can wear out. Keep an eye on them to avoid breakdowns when you least expect them. SEAs thrive on real-time feedback. Ensure your software can handle data quickly, maybe using a real-time operating system or optimized signal processing.
 ==== MIT Cheetah Actuator ====

← Older revision		Revision as of 06:26, 6 May 2024
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	Series Elastic Actuators (SEAs) are used in applications requiring safe and compliant human-robot interaction. They incorporate elastic elements, allowing for energy absorption and safer interactions. Quasi-Direct Drive Actuators provide a balance between the control fidelity of direct drives and the mechanical simplicity of geared systems, promoting natural and responsive movements.		Series Elastic Actuators (SEAs) are used in applications requiring safe and compliant human-robot interaction. They incorporate elastic elements, allowing for energy absorption and safer interactions. Quasi-Direct Drive Actuators provide a balance between the control fidelity of direct drives and the mechanical simplicity of geared systems, promoting natural and responsive movements.

−	Some ~~points~~ to consider:	+	Some things to consider:

−	* Pick Your Springs Wisely: The springs in SEAs are where the magic happens. Choosing the right stiffness is a balancing act between precise torque control and ~~getting~~ sluggish responses.	+	The springs in SEAs are where the magic happens. Choosing the right stiffness is a balancing act between getting precise torque control and avoiding sluggish responses. Finding that sweet spot is key.
−	*	+
−	* Calibrate, Calibrate, Calibrate: Calibration is your best buddy. Since the spring is constantly flexing, you need sensors tuned to give accurate torque measurements. Do it regularly, and you'll keep ~~your~~ movements smooth and predictable.	+	Calibration is your best buddy. Since the spring is constantly flexing, you need sensors tuned to give accurate torque measurements. Do it regularly, and you'll keep those movements smooth and predictable.
−	*	+
−	* Control Loops FTW: You want finely-tuned control loops to make SEAs shine. A high-frequency loop can make your robot more agile in handling external forces. ~~Go for~~ PID controllers ~~perhaps~~.	+	You want finely-tuned control loops to make SEAs shine. A high-frequency loop can make your robot more agile in handling external forces. PID controllers are a solid starting point, or you can try out some advanced strategies.
−	*	+
−	* Friction: Friction can impact your torque control ~~big time~~, especially in gearboxes and linkages. ~~Low~~-friction components will help keep everything moving smoothly.	+	Friction can really impact your torque control, especially in gearboxes and linkages. Using low-friction components and proper lubrication will help keep everything moving smoothly.
−	*	+
−	* Load Path Matters: Make sure your spring is ~~right in the direct load path~~ between the actuator and the joint. If not, your robot won’t get the full benefit of force sensing.	+	Make sure your spring is positioned directly between the actuator and the joint. If not, your robot won’t get the full benefit of force sensing, and that precision will be lost.
−	*	+
−	* Watch Out for Fatigue: Springs aren’t indestructible. ~~With~~ a lot of high-impact activities, ~~they~~ can wear out. Keep an eye on them to avoid breakdowns ~~at the worst possible moment~~.	+	Springs aren’t indestructible. If your robot is doing a lot of high-impact activities, the springs can wear out. Keep an eye on them to avoid breakdowns when you least expect them.
−	*	+
−	* Get Your Software Right: SEAs thrive on real-time feedback. Ensure your software can handle data ~~fast enough~~, maybe ~~even use~~ a real-time operating system or optimized signal processing.	+	SEAs thrive on real-time feedback. Ensure your software can handle data quickly, maybe using a real-time operating system or optimized signal processing.
−	*

	==== MIT Cheetah Actuator ====		==== MIT Cheetah Actuator ====

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 ==== Series Elastic and Quasi-Direct Drive Actuators ====
 Series Elastic Actuators (SEAs) are used in applications requiring safe and compliant human-robot interaction. They incorporate elastic elements, allowing for energy absorption and safer interactions. Quasi-Direct Drive Actuators provide a balance between the control fidelity of direct drives and the mechanical simplicity of geared systems, promoting natural and responsive movements.
 ==== MIT Cheetah Actuator ====