Real-to-Sim Adaptation via High-Fidelity Simulation to Control a Wheeled-Humanoid Robot with Unknown Dynamics.
Donghoon BaekYoungwoo SimAmartya PurushottamSaurabh GuptaJoao RamosPublished in: CoRR (2024)
Keyphrases
- high fidelity
- humanoid robot
- external disturbances
- real environment
- motion planning
- real robot
- real time
- control law
- medical image compression
- inverted pendulum
- multi modal
- closed loop
- mobile robot
- human operators
- fully autonomous
- human robot interaction
- high resolution
- joint space
- high quality
- control system
- human robot
- motor control
- dynamical systems
- sliding mode control
- control scheme
- control method
- walking speed
- autonomous robots
- imitation learning
- fuzzy controller
- control algorithm
- multi agent
- reinforcement learning
- e learning