Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots

Project Members

Christian Gehring (Disney Research, Zürich/ETH Joint PhD)
Stelian Coros (Disney Research Zurich)
Marco Hutter (ETH Zürich)
Michael Bloesch (ETH Zürich)
Peter Fankhauser (ETH Zürich)
Markus Hoepflinger (ETH Zürich)
Roland Siegwart (ETH Zürich)

 

PROJECT_Agile-Gaits-Quadrupedal-Robots_ICRA2014_TEASER.png

Abstract

Developing control methods that allow legged robots to move with skill and agility remains one of the grand challenges in robotics. In order to achieve this ambitious goal, legged robots must possess a wide repertoire of motor skills. A scalable control architecture that can represent a variety of gaits in a unified manner is therefore desirable. Inspired by the motor learning principles observed in nature, we use an optimization approach to automatically discover and fine-tune parameters for agile gaits. The success of our approach is due to the controller parameterization we employ, which is compact yet flexible, therefore lending itself well to learning through repetition. We use our method to implement a flying trot, a bound and a pronking gait for StarlETH, a fully autonomous quadrupedal robot.

 



Publications

Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots-Thumbnail

Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots
December 11, 2014
IEEE International Conference on Robotics and Automation (ICRA) 2014
Paper File [pdf, 3.28 MB]

Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot-Thumbnail

Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot
July 20, 2014
CLAWAR (Climbing and Walking Robots) 2014
Paper File [pdf, 1.20 MB]

Control of Dynamic Gaits for a Quadrupedal Robot-Thumbnail

Control of Dynamic Gaits for a Quadrupedal Robot
May 6, 2013
IEEE International Conference on Robotics and Automation (ICRA) 2013
Paper File [pdf, 1.25 MB]

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