Knowledge Commons of Institute of Automation,CAS
Learning Smooth and Omnidirectional Locomotion for Quadruped Robots | |
Wu, Jiaxi1,2; Wang, Chen'an3; Zhang, Dianmin1,2; Zhong, Shanlin1,2; Wang, Boxing1,2; Qiao, Hong1,2 | |
2021-07 | |
会议名称 | 2021 IEEE International Conference on Advanced Robotics and Mechatronics |
会议日期 | 2021-7 |
会议地点 | Chongqing, China |
摘要 | It often takes a lot of trial and error to get a quadruped robot to learn a proper and natural gait directly through reinforcement learning. Moreover, it requires plenty of attempts and clever reward settings to learn appropriate locomotion. However, the success rate of network convergence is still relatively low. In this paper, the referred trajectory, inverse kinematics, and transformation loss are integrated into the training process of reinforcement learning as prior knowledge. Therefore reinforcement learning only needs to search for the optimal solution around the referred trajectory, making it easier to find the appropriate locomotion and guarantee convergence. When testing, a PD controller is fused into the trained model to reduce the velocity following error. Based on the above ideas, we propose two control framework - single closed-loop and double closed-loop. And their effectiveness is proved through experiments. It can efficiently help quadruped robots learn appropriate gait and realize smooth and omnidirectional locomotion, which all learned in one model. |
关键词 | Quadruped Robot Reinforcement Learning |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48523 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 |
通讯作者 | Qiao, Hong |
作者单位 | 1.the State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences 3.School of Mechanical Engineering, University of Science and Technology Beijing |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wu, Jiaxi,Wang, Chen'an,Zhang, Dianmin,et al. Learning Smooth and Omnidirectional Locomotion for Quadruped Robots[C],2021. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Paper2(ICARM2021).pd(1436KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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