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Bayesian Optimization for Whole-Body Control of High Degrees of Freedom Robots through Reduction of Dimensionality

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https://ieeexplore.ieee.org/document/8651385
Original languageEnglish
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume4
Issue number3
Early online date25 Feb 2019
DOIs
StateE-pub ahead of print - 25 Feb 2019

Abstract

This paper aims to achieve automatic tuning of optimal parameters for whole-body control algorithms to achieve the best performance of high-DoF robots. Typically the control parameters at a scale up-to hundreds are often hand-tuned yielding sub-optimal performance. Bayesian Optimization (BO) can be an option to automatically find optimal parameters. However, for high dimensional problems, BO is often infeasible in realistic settings as we studied in this paper. Moreover, the data is too little to perform dimensionality reduction techniques such as Principal Component Analysis or Partial Least Square. We hereby propose an Alternating Bayesian Optimization (ABO) algorithm that iteratively learns the parameters of sub-spaces from the whole high-dimensional parametric space through interactive trials, resulting in sample efficiency and fast convergence. Furthermore, for the balancing and locomotion control of humanoids, we developed techniques of dimensionality reduction combined with the proposed ABO approach that demonstrated optimal parameters for robust whole-body control.

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