Publication

Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot

Auke Ijspeert
2013
Posters

Abstract

The process of finding working gaits for legged robots always, to different extents, includes manual tuning, systematic search, or optimization of control parameters. This process populates a dataset of control parameter vectors and respective robot behavior factors, like forward speed. The dataset obtained from a tuning process can include many gaits which share a similar performance in one behavior factor, e.g. speed, but differ in the control parameter vectors used. Our question here is, using the tuning dataset, how a continuous drive function can be calculated which takes the desired behavior, e.g. speed, and maps that to a control parameter vector. If this question is answered properly, then the robot operator (or a higher level controller) will have a single control knob to continuously change the desired behavior factor.

Official source

https://infoscience.epfl.ch/entities/publication/2021f2b7-9168-40c6-81ed-a6b57e6b0fdd

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Auke Ijspeert
2013
Posters

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/2021f2b7-9168-40c6-81ed-a6b57e6b0fdd

About this result

Related concepts (32)

Legged robot

Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry. Legged robots, or walking machines, are designed for locomotion on rough terrain and require control of leg actuators to maintain balance, sensors to determine foot placement and planning algorithms to determine the direction and speed of movement.

Robot locomotion

Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

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Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot

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