ETH Zurich researchers have developed a program that helps quadruped robots teach themselves how to open doors with minimal guidance from human operators. This three step process involves the user describing the scene and action before the system plans an approximate route. Lastly, it refines this route into an optimal path.
For these demonstrations, the researchers used ANYbotics’ ANYmal robot to practice opening a dishwasher door and then a weighted door. The latter required the robot to prop the door open with its leg while maneuvering through. The system is divided into two categories: object-centric (opening doors) and robot-centric (moving things). However, the team claims the system can be adapted for multiple form factors.
- Build your own awesome, wearable mechanical hand that you operate with your own fingers.
- No motors, no batteries — just the power of air pressure, water, and your own hands!
- Hydraulic pistons enable the mechanical fingers to open and close and grip objects with enough force to lift them. Every finger joint can be adjusted...
Given high-level descriptions of the robot and object…along with a task specification encoded through a sparse objective, our planner holistically discovers: how the robot should move, what forces it should exert, what limbs it should use, as well as when and where it should establish or break contact with the object,” said Jean-Pierre Sleiman, Researcher at the ETH Zurich Robotic Systems Lab.
