Iván Hernández Dalas: Boston Dynamics adds wheels to Atlas humanoid to test whole-body control
Bridging the divide between deterministic physics-based control and policy-driven adaptation, Boston Dynamics has deployed a hybrid locomotion architecture on a wheeled variant of its Atlas humanoid . The “experiment” combined classical model-based motor control with whole-body reinforcement learning to maintain dynamic stability across unstructured, real-world terrain. In the video, Andy Wu, controls engineer for Atlas at Boston Dynamics, highlights some recent experiments that he executed by attaching wheels to Atlas’ legs. Boston Dynamics is saying “a wheeled Atlas isn’t a product. It’s a research testbed.” Wu’s intention was to push the actuation to its limits. Another goal of the experiment was to understand unstructured environment adaptability. Wu addresses the limitations of purely model-based control when navigating unpredictable, real-world conditions that are difficult to model or simulate. Through a whole-body reinforcement learnin...