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  • 19 commits
  • 13 files changed
  • 1 contributor

Commits on Mar 18, 2024

  1. ✨ feat: 增加buptDog机器人模型

    @zybz777
    zybz777 committed Mar 18, 2024
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Commits on Mar 20, 2024

  1. ✨ feat: buptDog训练跑通，解决urdf问题

    @zybz777
    zybz777 committed Mar 20, 2024
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Commits on Mar 29, 2024

  1. 增加支撑相和摆动相相位循环

    @zybz777
    zybz777 committed Mar 29, 2024
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  2. 增加机器人动力学类

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    zybz777 committed Mar 29, 2024
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Commits on Apr 2, 2024

  1. 修改机器人动力学类未完成

    @zybz777
    zybz777 committed Apr 2, 2024
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Commits on Apr 9, 2024

  1. 从gym中读取足端位置和速度完成

    @zybz777
    zybz777 committed Apr 9, 2024
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  2. 增加摆动腿高度奖励，2+2步态有效果，但足端高度没抬起来

    @zybz777
    zybz777 committed Apr 9, 2024
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Commits on Apr 10, 2024

  1. 增加摆动腿速度奖励，还是没抬起来。 

    原因在于PD控制里一直有默认角度的影响
    @zybz777
    zybz777 committed Apr 10, 2024
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Commits on Apr 11, 2024

  1. 更新摆动腿奖励函数，效果可以 

    TODO：尝试将四条腿的相位添加至输入
    @zybz777
    zybz777 committed Apr 11, 2024
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Commits on Apr 12, 2024

  1. 将腿相位加入输入端，还是没抬起来 

    TODO：增加足端滑动惩罚函数
    @zybz777
    zybz777 committed Apr 12, 2024
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Commits on Apr 13, 2024

  1. 增加足端滑动惩罚函数，2+2抬腿成功

    @zybz777
    zybz777 committed Apr 13, 2024
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  2. 参数优化

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    zybz777 committed Apr 13, 2024
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  3. test中3+1步态相位测试通过，还差频率这一参数没测试

    @zybz777
    zybz777 committed Apr 13, 2024
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Commits on Apr 16, 2024

  1. test中测试3+1步态相位的参数通过，待训练测试 

    TODO：还没有测试周期频率，目前步态周期为1s
    @zybz777
    zybz777 committed Apr 16, 2024
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Commits on Apr 18, 2024

  1. 3+1没训练出来，出来的结果还是2+2 

    TODO：想一下问题在哪里，再解决
    @zybz777
    zybz777 committed Apr 18, 2024
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Commits on May 12, 2024

  1. TODO：新模型Z轴足端力被小腿Z轴分担了，因为他们重合在一起

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    zybz777 committed May 12, 2024
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Commits on May 20, 2024

  1. 新模型修复：足端惯性矩阵设置 2+2训练跑通

    @zybz777
    zybz777 committed May 20, 2024
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  2. 尝试去除本体观测量中的速度，训练效果不太好

    @zybz777
    zybz777 committed May 20, 2024
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Commits on May 21, 2024

  1. 观测量加足端位置，后腿还是滞后

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    zybz777 committed May 21, 2024
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