/pigraphs_body_morphology

Primary LanguageHTML

This is the accompanying repository for the manuscript titled Machine Learning Driven Self-Discovery of the Robot Body Morphology. The repository contains:

  • Links to data sets and
  • MATLAB source code

Requirements

  • MATLAB's Robotics System Toolbox
  • MATLAB's Optimization Toolbox
  • Tool­boxes for opti­mization on manifolds and matrices MANOPT
  • Java Information Dynamics Toolkit JIDT

NOTE: MATLAB 2021b was used.

Getting the datasets

All datasets are publicly available at Kaggle; these are the corresponding links:

  • Simulated robot manipulator with fixed and moving base here
  • Physical manipulator experiment (fixed base) here
  • Simulated hexpod robot here
  • Simulated humanoid robot here

All datasets must be stored in the data directory.

Usage

Versions of the toolboxes used are included in this repository, check if you want to udate them. To reproduce the results:

  1. Add directories to the search path in MATLAB's command line: run init_path.m

  2. To see the results for the simulated robot manipulator open, frankaArmSimulated.m.

  3. To see the results for the physical robot manipulator open, frankaArmPhysical.m.

  4. To see the results for the hexapod robot, open phantomxHexapod.m.

  5. To see the results for the humanoid robot, open poppyHumanoid.m.

The different sections in the scripts are self-explanatory.