KETI 20-DOF Wheeled-Legged AMR

Rough-terrain velocity tracking and chassis-leveling objective in Isaac Lab.

Isaac Lab velocity-tracking training scene for the KETI 20-DOF wheeled-legged AMR
Isaac Lab velocity-tracking setup for the KETI 20-DOF wheeled-legged AMR.
KETI 20-DOF wheeled-legged AMR training overview in Isaac Lab
Training overview used while tuning the velocity-tracking task.
KETI 20-DOF wheeled-legged AMR simulation model
20-DOF wheeled-legged AMR simulation model.
Isaac Lab training monitor view for the KETI 20-DOF wheeled-legged AMR
Training monitor view while tuning the task.

I set up Isaac Lab training for a 20-DOF wheeled-legged AMR project associated with Korea Electronics Technology Institute (KETI). The work covered robot configuration, MDP/reward design, terrain curriculum, PPO velocity-tracking training, and 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 payload-carrying operation, checked in simulation before fabrication.
  • Code: kelvin926/isaac_wheel