https://martantoine.github.io/tags/rl-with-gymnasium-3d-printing/Recent content in RL With Gymnasium, 3D Printing on Antoine Martin's BlogHugo -- gohugo.ioen-usSat, 01 Jun 2024 18:28:01 -0700https://martantoine.github.io/posts/quadruped/Sat, 01 Jun 2024 18:28:01 -0700https://martantoine.github.io/posts/quadruped/<p>The design of a quadruped robot with tensegrity joints and McKibbens artificial muscles is a complex challenge, as it involves the intricate task of designing a multi-axis compliant joint integrated with compliant actuation. Analytical resolutions, simulations, and real-world measurement were necessary to solve this complex design problem. The demonstrator itself was first tested in Mujoco simulation before actually building it.</p> <p>It was possible to eliminate the need for antagonistic pairs of muscles thanks to the introduction of a restoring force in every joint, hence reducing by a factor of two the number of actuators when compared with the antagonistic approach, eventually making the robot lighter. The pneumatic actuators are controlled by onboard valves and a microcontroller. The tensegrity joints are an assembly of 3d printed thermoplastic polyurethane and 3d printed PETG.</p> <p>Thanks to the joints&rsquo; restoring force, the quadruped has the ability to stand by itself without active actuator control. This follows the idea of a compliant quadruped robot with minimal sensory feedback. So far, the robot has been shown to be capable of walking forward in simulation and on a flat surface with the demonstrator (while being supported by a rail).</p> <div style="text-align: center; margin: 1.5rem 0;"> <video controls style="max-width: 100%;"> <source src="https://martantoine.github.io/posts/quadruped/walking.mp4" type="video/mp4"> </video> </div> <object data="quadsegrity.pdf" type="application/pdf" width="100%" height="1000px"> <p>Unable to display PDF file. <a href="quadsegrity.pdf">Download</a> instead.</p> </object>