World Model and Continuous Jumping Movements of Biped Robot Based on Passive Dynamical Mechanism

Abstract

In this study, we aim to develop a human-like biped robot by integrating the world model with the passive dynamical mechanism that consists of the interaction between the body and the environment. The robot learns jumping movements by watching from third perspective via a camera itself as if it were practicing dance in front of a mirror. Force commands to pneumatic actuator and motor are generated directly from the camera image (end-to-end). In the actual experiment, continuous jumping was obtained using DreamerV2, a world model-based deep reinforcement learning.