Unitree Go1 Robot Controller Tuning
收藏arXiv2025-09-30 收录
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https://github.com/lasgroup/gosafeopt
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资源简介：
该数据集包含了使用上下文GoSafeOpt对不同步态（特别是小跑和爬行）的Unitree Go1机器人控制参数的调整。此外，该数据集还包含了对小跑和爬行步态的调优性能指标，结果显示GoSafeOpt方法在约束条件上没有违反。实验采用了多种子实验，涉及多种步态参数，任务重点在于腿部机器人的控制器调优。
This dataset encompasses adjustments to the control parameters of the Unitree Go1 legged robot across different gaits, particularly trotting and crawling, utilizing the contextual GoSafeOpt method. It further incorporates tuning performance metrics for trotting and crawling gaits, with experimental results verifying that the GoSafeOpt method did not incur any constraint violations. The study employed multiple sub-experiments involving diverse gait parameters, with the core task centered on controller tuning for legged robots.
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