This project is still a work in progress !
I'm making a miniature version of the BDX Droid by Disney. It will be about 35 centimeters tall with its legs extended.
bdx-2024-09-04_14.27.12.mp4
This is a policy trained in Isaac Gym with Amp_for_hardware running in Mujoco.
open_duck_mini_stand.mp4
This is a policy trained in Isaac Gym for standing up while being robust to perturbations.
VID_20240904_194531.mp4
This is an attempt at running the walking policy on the real robot. Still some work to do :)
This is kind of a hub where I centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) I'll try to clean things up at some point.
See this document for getting from a onshape design to a simulated robot in MuJoCo
The RL method used to learn to walk is Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions.
My fork of the original repo is there
This is the current policy running in Isaac Gym. It can be controlled to walk forward and to turn left or right.
bdx-2024-09-03_16.35.35.mp4
Note : I switched to using xc330-M288-T servomotors instead of xl330-M288-T for the legs. They are more expensive, but way more powerful. Maybe we'll try to go back to xl330 servos once everything is working properly with the xc330.
https://docs.google.com/spreadsheets/d/18hrYgjaE9uL2pnrnq5pNUzFLZcI4Rg0AvSc9sqwE680/edit?usp=sharing
TODO
The current version (alpha) is not very easy to build, has some mechanical problems (too much play at some joints). After everything works on this version of the robot, I will redesign it from the ground up, trying to make it more accessible and better mechanically designed !
This repo contains the code to run the policies on the onboard computer (Raspberry pi zero 2w) https://github.com/apirrone/Open_Duck_Mini_Runtime
- https://www.nature.com/articles/s41598-023-38259-7.pdf
- https://arxiv.org/pdf/2304.13653
- https://arxiv.org/pdf/2401.16889
- https://arxiv.org/pdf/1801.01290
- First comment of this video explains the reward https://www.youtube.com/watch?v=L_4BPjLBF4E
- https://www.nvidia.com/en-us/on-demand/session/gtc24-s63374/
- https://la.disneyresearch.com/publication/design-and-control-of-a-bipedal-robotic-character/
- https://cults3d.com/en/3d-model/gadget/robot-disney-star-wars
- https://www.disneytouristblog.com/wp-content/uploads/2023/10/bd1-droid-testing-disney-imagineering-2.jpg
- nice close up video https://www.youtube.com/watch?v=QuWaaNN-1hs
Thanks a lot to HuggingFace for sponsoring this project !