{"id":20013,"date":"2023-10-09T19:28:12","date_gmt":"2023-10-09T19:28:12","guid":{"rendered":"https:\/\/www.africa-press.net\/madagascar\/politique\/ce-robot-quadrupede-est-un-champion-de-parkour"},"modified":"2023-10-09T20:59:49","modified_gmt":"2023-10-09T20:59:49","slug":"ce-robot-quadrupede-est-un-champion-de-parkour","status":"publish","type":"post","link":"https:\/\/www.africa-press.net\/madagascar\/toutes-les-actualites\/ce-robot-quadrupede-est-un-champion-de-parkour","title":{"rendered":"Ce robot quadrup\u00e8de est un champion de parkour"},"content":{"rendered":"

Africa-Press – Madagascar. <\/strong><\/span>On appelle cette discipline sportive le \u201cparkour\u201d, en re\u0301fe\u0301rence au parcours du combattant. Les athle\u0300tes doivent franchir toutes sortes d\u2019obstacles, faisant appel a\u0300 quantite\u0301 d\u2019aptitudes physiques. Course, reptation, roulade, re\u0301ception, divers techniques de saut et de franchissement de murs, barrie\u0300res, fosse\u0301s et autres zones de vides entre deux e\u0301le\u0301ments.<\/p>\n

C\u2019est exactement ce qu\u2019une e\u0301quipe compose\u0301e de chercheurs en robotique des universite\u0301s de Stanford et de Carnegie Mellon aux Etats-Unis et de l\u2019Universite\u0301 de Technologie de Shanghai et celle de Tsinghua en Chine, parvient a\u0300 faire faire a\u0300 un robot quadrupe\u0300de, avec une fluidite\u0301 de mouvement confondante.<\/p>\n

En l\u2019occurrence, la machine passe sous du mobilier de bureau, saute a\u0300 quarante centime\u0300tres de haut sur une estrade, passe sous un canape\u0301, bondit d\u2019une table a\u0300 l\u2019autre, franchit un muret ou se glisse dans un passage e\u0301troit entre un meuble et une pile de cartons.<\/p>\n

Une diversite\u0301 d\u2019exercices<\/b><\/p>\n

Le projet sera pre\u0301sente\u0301 lors d\u2019une confe\u0301rence sur l\u2019apprentissage des robots de\u0301but novembre a\u0300 Atlanta (Etats-Unis) mais fait de\u0301ja\u0300 l\u2019objet d\u2019une vide\u0301o de de\u0301monstration publie\u0301e le 4 octobre 2023.<\/p>\n

Ce n\u2019est e\u0301videmment pas la premie\u0300re fois qu\u2019un robot parvient a\u0300 exe\u0301cuter des mouvements complexes avec autant d\u2019agilite\u0301. Il suffit de penser aux de\u0301monstrations re\u0301gulie\u0300rement publie\u0301es par Boston Dynamics. Mais ici, la nouveaute\u0301 re\u0301side dans la diversite\u0301 des exercices et leur enchai\u0302nement mais aussi dans la me\u0301thode d\u2019entrai\u0302nement du robot, plus simple et moins cou\u0302teuse que celles utilise\u0301es jusque-la\u0300 pour ce genre de projet.<\/p>\n

L\u2019e\u0301quipe a eu recours a\u0300 de l\u2019apprentissage par renforcement, qui est un processus par essai-erreur. Dans cette approche, chaque re\u0301ussite de\u0301clenche un signal de re\u0301compense qui permet d\u2019apprendre a\u0300 l\u2019algorithme qu\u2019il a fait le bon choix. Mais elle est ge\u0301ne\u0301ralement tre\u0300s laborieuse et dans le cas de ta\u0302ches complexes, ne\u0301cessite d\u2019appliquer le me\u0301canisme de la re\u0301compense a\u0300 quantite\u0301 de variables.<\/p>\n

Une quarantaine de parcours en simulation<\/b><\/p>\n

L\u2019e\u0301quipe s\u2019est employe\u0301e a\u0300 condenser ce processus en donnant un sens de proprioception au robot. Dote\u0301 d\u2019une came\u0301ra de profondeur, uniquement guide\u0301 par un syste\u0300me de vision par ordinateur, il collecte des informations sur la distance qui le se\u0301pare de l\u2019obstacle a\u0300 passer, la hauteur et la largeur de cet obstacle.<\/p>\n

Mais l\u2019algorithme a d\u2019abord appris se\u0301pare\u0301ment, et en simulation, a\u0300 exe\u0301cuter cinq actions de base : grimper, sauter, ramper, courir et basculer. Les essais se comptent la\u0300 en milliers. Puis, toujours en environnement simule\u0301 base\u0301 sur la plateforme de Nvidia IsaacGym restituant des contraintes physiques re\u0301alistes, il a e\u0301te\u0301 lance\u0301 sur une quarantaine de parcours diffe\u0301rents avec vingt obstacles.<\/p>\n

Une fois sur le terrain (en inte\u0301rieur comme en exte\u0301rieur), embarquant l\u2019algorithme relie\u0301 a\u0300 la came\u0301ra, le robot adapte alors cet apprentissage a\u0300 la configuration des lieux. Il s\u2019est par exemple ave\u0301re\u0301 capable de passer avec un taux de re\u0301ussite de 80% des barrie\u0300res mesurant une fois et demie sa propre hauteur, de franchir un vide e\u0301quivalent a\u0300 une fois et demie sa longueur. Il a aussi re\u0301ussi, avec un taux de re\u0301ussite de 90%, a\u0300 se glisser dans un espace de 20 cm de haut ou a\u0300 gravir des marches.<\/p>\n

Et les chercheurs se sont rendu compte que la machine, lorsqu\u2019elle e\u0301chouait, s\u2019y reprenait parfois d\u2019elle-me\u0302me plusieurs fois avant de re\u0301ussir a\u0300 franchir l\u2019obstacle. Ce a\u0300 quoi elle n\u2019avait pas e\u0301te\u0301 entrai\u0302ne\u0301e…<\/p>\n

Pour plus d’informations et d’analyses sur la Madagascar<\/a>, suivez Africa-Press<\/a><\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"

Africa-Press – Madagascar. On appelle cette discipline sportive le \u201cparkour\u201d, en re\u0301fe\u0301rence au parcours du combattant. Les athle\u0300tes doivent franchir toutes sortes d\u2019obstacles, faisant appel a\u0300 quantite\u0301 d\u2019aptitudes physiques. Course, reptation, roulade, re\u0301ception, divers techniques de saut et de franchissement de murs, barrie\u0300res, fosse\u0301s et autres zones de vides entre deux e\u0301le\u0301ments. C\u2019est exactement ce […]<\/p>\n","protected":false},"author":82,"featured_media":20012,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[22,10],"tags":[36,50,49],"class_list":["post-20013","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-divers","category-toutes-les-actualites","tag-africa-press","tag-africa-press-madagascar","tag-madagascar"],"yoast_head":"\nCe robot quadrup\u00e8de est un champion de parkour - Madagascar<\/title>\n<meta name=\"description\" content=\"On appelle cette discipline sportive le \u201cparkour\u201d, en re\u0301fe\u0301rence au parcours du combattant. 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