Rotary Inverted Pendulum
Ongoing
Hardware for validating Rapid Motor Adaptation (RMA), now moving to simulation to close the sim-to-real gap.
- Prototyped closed-loop electronics (STM32, AS5600 encoder, stepper motor, PD control) to validate Rapid Motor Adaptation (RMA).
- Now implementing RMA's base-policy-plus-adaptation-module approach in simulation to close the sim-to-real gap.
Next project: ZMP Analysis & Motion Generation for Humanoids