IEEE Robotics & Automation Magazine - December 2021 - 10
Reinforcement Learning
Based, Staircase
Negotiation Learning
Simulation and
Transfer to Reality
for Articulated
Tracked Robots
By Andrei Mitriakov, Panagiotis Papadakis, Jérôme Kerdreux, and Serge Garlatti
A
utonomous control of reconfigurable robots is crucial
for their deployment in diverse environments.
However, its development is hampered by the
diversity of hardware and task constraints. We
advocate the use of artificial intelligence-based
approaches to improve scalability to different conditions and
portability to platforms of comparable traversability skills. In
particular, we succeed in tackling the problem of staircase
traversal via a reinforcement learning (RL)-based control
framework applicable to different articulated, tracked robots
and powerful enough to generalize to varying conditions
learned in simulation and transferred to reality in a zero-shot
Digital Object Identifier 10.1109/MRA.2021.3114105
Date of current version: 21 October 2021
10 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2021
setting. Our extensive experiments demonstrate the robustness
of the framework in learning tasks with increased risk
and difficulty induced by platform diversification and
increased control dimensionality.
Background
Autonomous 3D navigation has tremendous potential for
robotic applications that range from operation in hazardous
environments to providing assistance to humans. In the latter
case, a robot may encounter steps and staircases that may have
to be avoided or traversed by passive adaptation that palliates
minor collisions. Most often, however, ensuring robot and
environment safety requires active robot control. Staircase
negotiation has been predominantly addressed using conventional
control, assuming proper knowledge of robot
1070-9932/21©2021IEEE
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IEEE Robotics & Automation Magazine - December 2021
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2021
Contents
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