Learning Controllers for Robust Bipedal Locomotion on Challenging Terrains

Learning Controllers for Robust Bipedal Locomotion on Challenging Terrains


Abstract

In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a gradient free learning algorithm, Augmented Random Search (ARS), in the two robot platforms Rabbit and Digit. Our contributions are two-fold: a) By using torso and support plane orientation as inputs, we achieve robust walking on slopes of upto 20 degree in simulation. b) We demonstrate additional behaviors like walking backwards, stepping-in-place, and recovery from external pushes of upto 120 N. The end-result is a robust and a fast feedback control law for bipedal walking on terrains with varying slopes. Towards the end, we also provide preliminary results of hardware transfer to Digit.

incline
Slope: Incline
decline
Slope: Decline
vslope
Variying Slope
sine
Sinusoidal Terrain
spike
Undulated-Spiky Terrain
steps
Undulated-Step Terrain
stairs
Staircase
omni
Omni-Driectional Walking


Control Framework

drawing


Video




Citation

    @misc{krishna2021learning,
        title={Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes}, 
        author={Lokesh Krishna and Utkarsh A. Mishra and Guillermo A. Castillo and Ayonga Hereid and Shishir Kolathaya},
        year={2021},
        eprint={2104.01662},
        archivePrefix={arXiv},
        primaryClass={cs.RO}
}



Related Papers

2021
September
PDF Learning Linear Policies for Robust Bipedal Locomotionon Terrains with Varying Slopes
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, and Shishir Kolathaya
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic.

People

Lokesh Krishna
B.Tech., IIT BHU
Utkarsh Mishra U
Utkarsh Mishra
IIT Roorkee
Shishir Kolathaya
Assistant Professor
Last updated: 2021-08-07