Description: Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots
reinforcement learning (156) biomechanics (141) locomotion (42) energetics (42) emergent behaviors (5)
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However, fixing a set of pre-programmed gaits limits the generality of locomotion. Recent animal motor studies show that these conventional gaits are only prevalent in ideal flat terrain conditions while real-world locomotion is unstructured and more like bouts of intermittent step
In Biomechanics, Froude number is a metric characterizing gaits of quadrupeds and bipeds. Animals with a similar morphology but with different sizes tend to use the same gait when moving with equal Froude numbers. Our robot has similar Froude numbers as horses and sheep. The plot on the left (Hoyt et al. 1981) analyzes the energy consumption of different horse gaits across different speeds. Shown on the right, the energy consumption plot of our robot has a similar trend, which also validates certain gaits w
Foot Contact Plots of Walking, Trotting, Bouncing (Galloping)
Ashish Kumar
Zipeng Fu
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
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Priyank Jaini