사족보행 로봇 연구 기록
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2026.11.03 업데이트

V1 · 프로젝트 정보

Building Pupper v3, training locomotion policies and bringing them to the robot.

프로젝트 현황

Printed parts
Done
28 parts; ears and strap left out
Stairs crossed (simulation)
3 cm
97 of 100 crossings on average; 4 cm: 79
Standing height (simulation)
0.176 m
official policy 0.183 m
1 B training steps
46 min
lab PC, MuJoCo Warp

다음 작업

하드웨어 · 다음 작업

Finishing the assembly, then bring-up; the stair course is designed and waits for its rise to be picked (30 or 40 mm)

소프트웨어 · 다음 작업

Training on grass; behaviour commands (training with vertical stair edges and with gear backlash, the crouch on slopes); one policy for walking, commands and fall recovery (its stand-up after a fall in the robot's control software); the heading hold on the robot (IMU heading near the motors); then the deployment check

로드맵

하드웨어

  1. Base designAug 31 · Pupper v3 selected
    Done
  2. 3D printingOct 5 · 28 parts; ears and strap left out
    Done
  3. Parts arrivalby Oct 22 · motors, boards, Raspberry Pi 5
    Done
  4. Assemblyrecorded from above on Oct 22
    In progress
  5. Bring-upfirmware, zeroing, IMU
    Not started
  6. First walkshipped policy
    Not started
  7. Terrain printedstair course designed; same CAD as the simulator
    Not started

소프트웨어

  1. Policy trained in simulationOct 2 · 1B steps
    Done
  2. ROS 2 stack analysedOct 2 · robot control flow
    Done
  3. Policy in the ROS 2 stackOct 2 · simulation, keys or pad
    Done
  4. Match the official policyOct 12 · height 0.176 m, no fall in 10 runs
    Done
  5. Terrain training3 cm stairs crossed in simulation; multi-terrain and behaviour runs open
    In progress
  6. Deployment checkexport, e-stop, Pi 5 timing
    Not started
  7. Motor benchafter parts arrive
    Not started

공통 목표

  1. Our policy on the robotflat ground
    Not started
  2. Our policy on the printed terrainsame layout as the simulator
    Not started
  3. V1.0 demo: spoken commandssit, stand, follow me, lie down; plan of Oct 28
    Not started

자료

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