Projects per year
Abstract
This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Initially, a kernel neural network is trained with data collected from an MPC controller. Alongside a frozen kernel network, a residual controller network is trained using reinforcement learning to acquire generalized locomotion skills and robustness against external perturbations. The proposed framework successfully learns a robust quadrupedal locomotion controller with high sample efficiency and controllability, which can provide omnidirectional locomotion at continuous velocities. We validated its versatility and robustness on unseen terrains that the expert MPC controller failed to traverse. Furthermore, the learned kernel can produce a range of functional locomotion behaviors and can generalize to unseen gaits.
Original language | English |
---|---|
Title of host publication | 2023 IEEE International Conference on Robotics and Automation (ICRA) |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 5148-5154 |
Number of pages | 7 |
ISBN (Electronic) | 9798350323658 |
ISBN (Print) | 9798350323665 |
DOIs | |
Publication status | Published - 4 Jul 2023 |
Event | 2023 IEEE International Conference on Robotics and Automation - London, United Kingdom Duration: 29 May 2023 → 2 Jun 2023 https://www.icra2023.org |
Conference
Conference | 2023 IEEE International Conference on Robotics and Automation |
---|---|
Abbreviated title | ICRA 2023 |
Country/Territory | United Kingdom |
City | London |
Period | 29/05/23 → 2/06/23 |
Internet address |
Fingerprint
Dive into the research topics of 'Agile and Versatile Robot Locomotion via Kernel-based Residual Learning'. Together they form a unique fingerprint.Projects
- 1 Finished
-
HARMONY: Enhancing Healthcare with Assistive Robotic Mobile Manipulation
Vijayakumar, S. (Principal Investigator), Ivan, V. (Co-investigator), Khadem, M. (Co-investigator) & Li, Z. (Co-investigator)
1/01/21 → 30/06/24
Project: Research