Behold my IlliniHopper! Hail to the orange, Hail to the blue...
Following the constructsim tutorial, I decided to create my own monoped robot in order to teach myself more about ROS and using OpenAI in a Gazebo Environment
I used the monoped robot from ETH Zurich's xpp package and tried to teach it to hop with by using Q-learning. The algorithm did not converge, but the result was quite interesting:
Requirements:
ROS-melodic Gazebo
to run please use the following commands:
catkin_make
to launch the monoped:
roslaunch my_legged_robots_sims main.launch
to launch the Qlearning:
roslaunch my_hopper_training main.launch
