Robust Quadrupedal Locomotion on Sloped Terrains

Robust Quadrupedal Locomotion on Sloped Terrains


Abstract

In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch2. In particular, the parameters of the end-foot trajectories are shaped via a linear feedback policy that takes the torso orientation and the terrain slope as inputs. The corresponding desired joint angles are obtained via an inverse kinematics solver, and tracked via a PID control law. Augmented Random Search, a model-free and a gradient-free learning algorithm, is used to train this linear policy. Simulation results show that the resulting walking is robust to external pushes and terrain slope variations. This methodology is not only computationally light-weight, but also uses minimal sensing and actuation capabilities in the robot, thereby justifying the approach.

uphill
Uphill
sidehill
Sidehill
staircse
Staircase
disturbance
Disturbance Rejection
drawing


Video




Citation

        @misc{paigwar2020robust,
              title={Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach}, 
              author={Kartik Paigwar and Lokesh Krishna and Sashank Tirumala and Naman Khetan and Aditya Sagi and Ashish Joglekar and Shalabh Bhatnagar and Ashitava Ghosal and Bharadwaj Amrutur and Shishir Kolathaya},
              year={2020},
              eprint={2010.16342},
              archivePrefix={arXiv},
              primaryClass={cs.RO}
        }



Related Papers

2020
November
PDF Robust Quadrupedal Locomotion on Sloped Terrains - A Linear Policy Approach
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, and Shishir Kolathaya
4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA.

People

Kartik Paigwar
Project Associate
Lokesh Krishna
B.Tech., IIT BHU
Aditya Sagi
Aditya Sagi
Technical Associate
Sashank Tirumala S
Sashank Tirumala
Dual-Degree, IIT, Madras
Naman Khetan
Dual-Degree, IIT (ISM) Dhanbad
Shishir Kolathaya
Assistant Professor
Last updated: 2020-10-15