SelfRisingRobot

Robot that executes stand-up motion using two servos and reinforcement learning in MuJoCo

source: https://homemadegarbage.com/rl13

Contents

• 3Dmodel/ - 3D print models for the physical robot
• RL/ - MuJoCo model, reinforcement learning environment, and trained PPO model
• Arduino/ - M5Atom sketch and exported policy network

Please refer to the README in each folder for detailed usage instructions.

3D Model

The 3Dmodel/ folder contains STL files for building the physical robot.

• footP.stl
• arm1P.stl
• arm2P.stl
• armhornP.stl

Reinforcement Learning

The RL/ folder contains the simulation and trained model.

Key contents:

• MuJoCo model
• Gymnasium environment
• Trained Stable-Baselines3 PPO model
• Playback and evaluation scripts

Arduino

The Arduino/ folder contains the M5Atom sketch for controlling the physical robot.

Key contents:

• robo03.ino
• policy_network.h

policy_network.h is a C header file containing the trained policy, used to execute the stand-up motion on the M5Atom.