KETI 20-DOF Wheeled-Legged AMR

Rough-terrain velocity tracking setup for a 20-DOF wheeled-legged AMR.

KETI 20-DOF wheeled-legged AMR simulation model
Isaac Lab rough-terrain velocity-tracking scene for a 20-DOF wheeled-legged AMR
Isaac Lab velocity-tracking scene.

I set up Isaac Lab training for a 20-DOF wheeled-legged AMR commissioned by Korea Electronics Technology Institute (KETI). I handled robot configuration, MDP/reward design, rough-terrain curriculum, and PPO velocity-tracking training, then added a chassis-leveling objective for payload-carrying operation.

  • Role: robot configuration, MDP/reward design, terrain curriculum, PPO training setup
  • Tools: Isaac Lab, RSL-RL, PyTorch, PPO
  • Result: rough-terrain velocity-tracking setup with a chassis-leveling objective for a steering-joint wheeled-legged AMR before fabrication.
  • Code: kelvin926/isaac_wheel