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Fast, robust quadruped locomotion over challenging terrain

2010

Conference Paper

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We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstration using terrain templates, (2) a body trajectory optimizer based on the Zero-Moment Point (ZMP) stability criterion, and (3) a floating-base inverse dynamics controller that, in conjunction with force control, allows for robust, compliant locomotion over unperceived obstacles. We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrain of varying difficulty levels. We demonstrate the generalization ability of this controller by presenting test results from an independent external test team on terrains that have never been shown to us.

Author(s): Kalakrishnan, M. and Buchli, J. and Pastor, P. and Mistry, M. and Schaal, S.
Book Title: Robotics and Automation (ICRA), 2010 IEEE International Conference on
Pages: 2665-2670
Year: 2010
Month: May
Day: 3-7

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Cross Ref: p10419
ISBN: 1050-4729
Note: clmc
URL: http://www-clmc.usc.edu/publications/K/kalakrishnan-ICRA2010.pdf

BibTex

@inproceedings{Kalakrishnan_RAIIC_2010,
  title = {Fast, robust quadruped locomotion over challenging terrain},
  author = {Kalakrishnan, M. and Buchli, J. and Pastor, P. and Mistry, M. and Schaal, S.},
  booktitle = {Robotics and Automation (ICRA), 2010 IEEE International Conference on},
  pages = {2665-2670},
  month = may,
  year = {2010},
  note = {clmc},
  crossref = {p10419},
  url = {http://www-clmc.usc.edu/publications/K/kalakrishnan-ICRA2010.pdf},
  month_numeric = {5}
}