Four legged, dog-inspired robots have grown in popularity among scientists and first responders in recent years thanks to their unique ability to quickly and safely maneuver areas hazardous or inaccessible to humans. Some of those robots, like Boston Dynamics’ Spot, can use large claws and other attachments to help them interact with the world around them. But those additional limbs aren’t always ideal since they add weight and take up extra space, both of which could limit the robo-dog’s effectiveness in tight corridors.
Researchers at ETH Zurich’s Robotic Systems Lab in Switzerland tried to solve that dilemma by training their own robot dog to use one of its four limbs to complete tasks like opening a door and moving objects while simultaneously relying on the other three limbs to walk and maintain balance. In a recently released paper documenting their findings, the researchers say they believe this novel use of the robot’s limb could one day aid space exploration and other scenarios where weight and mechanical real-estate are at a premium.Â
How did the robot dog use its leg?Â
Researchers used a reinforcement learning model to teach the robot dog, an ANYmal model made by the firm ANYbotic, to complete a series of tasks where it had to manipulate its environment. The model was rewarded with positive reinforcement when the robot placed its front right limb into the desired location. On the flip side, the model revived negative reinforcement when the robot used jerky, potential unsafe movements. From there, the robot learned to use its remaining three legs to balance and move around. Researchers were able to move the robot around using a joystick on a remote controller.Â
Photos of the experiment show the robot raising its front limb and placing it beside a door handle before shifting its weight to…
Read the full article here