Training
BAM — the servo actuator model
- Author
- Rhoban
BAM (Better Actuator Models) is Rhoban’s framework for modelling and identifying servo behaviour. Every microduck_rl task uses its M6 model to simulate the Dynamixel XL330.
Why this layer decides the outcome: treat a servo as an ideal torque source and the gait learned in simulation will almost certainly fail on hardware, because real friction and voltage behaviour eat exactly the response the policy relies on. The M6 model covers the voltage control law, back-EMF, and Coulomb, Stribeck and load-dependent friction.
Worth reading for anyone doing sim2real rather than only using Microduck. See the sim2real recipe.