Learning To Exploit Elastic Actuators For Quadruped Locomotion.pdf

2209.07171.pdf
Preview of Learning to exploit elastic actuators for quadruped locomotion
🔗 Source: arxiv.org
📊 Size: 5.94 MB
📄 Pages: 8 pages
⬇️ Downloads: 113

Summary

Researchers propose a model-free approach to learn controllers for quadruped robots with elastic actuators, using central pattern generators (CPGs) and reinforcement learning. They evaluate their approach on the DLR elastic quadruped "bert" and achieve the fastest walking gait recorded on the platform, with natural-looking gaits emerging in under 1.5 hours of training on the real robot. The approach combines open-loop control using CPGs with closed-loop control using reinforcement learning, allowing the robot to exploit the elasticity of its actuators and improve performance and robustness.

Description

Researchers propose a model-free approach to learn controllers for quadruped robots with elastic actuators, using central pattern generators (CPGs) and...

Technical Information

  • File Format: PDF
  • File Size: 5.94 MB
  • Pages: 8
  • Language: EN
  • Total Downloads: 113
  • Last Updated: 13 hours ago

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