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This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning.
S. Seok, A. Wang, D. Otten, and S. Kim, “Actuator design for high force proprioceptive control in fast legged locomotion,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems , 2012, pp. 1970–1975
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M. Raibert, K. Blankespoor, G. Nelson, and R. Playter, “Bigdog, the rough-terrain quadruped robot,” IFAC Proceedings Volumes , vol. 41, no. 2, pp. 10 822–10 825, 2008, 17th IFAC World Congress. [Online]. Available: https://www.sciencedirect.com/science/article/pii/S1474667016407020
2008
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R. Mahony, T. Hamel, and J.-M. Pflimlin, “Nonlinear complementary filters on the special orthogonal group,” IEEE Transactions on Automatic Control , vol. 53, no. 5, pp. 1203–1218, 2008
2008
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S. J. Chapman, Electric machinery fundamentals , 5th ed. New York: McGraw-Hill, 2012
2012
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M. Hutter, C. Gehring, M. Bloesch, M. A. Hoepflinger, C. D. Remy, and R. Siegwart, “Starleth: A compliant quadrupedal robot for fast, efficient, and versatile locomotion,” in Name of Conference or Collection . Name of Publisher or Organizer, 2012, p. Page Numbers
2012
Earlier work this paper cites.
D. J. Hyun, S. Seok, J. Lee, and S. Kim, “High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the mit cheetah,” The International Journal of Robotics Research , vol. 33, no. 11, pp. 1417–1445, 2014. [Online]. Available: https://doi.org/10.1177/0278364914532150
2014
Earlier work this paper cites.
H.-W. Park and S. Kim, “The mit cheetah, an electrically-powered quadrupedal robot for high-speed running,” 日本ロボット学会誌 , vol. 32, no. 4, pp. 323–328, 2014
2014
Earlier work this paper cites.
M. Hutter, C. Gehring, D. Jud, A. Lauber, C. D. Bellicoso, V. Tsounis, J. Hwangbo, K. Bodie, P. Fankhauser, M. Bloesch, R. Diethelm, S. Bachmann, A. Melzer, and M. Hoepflinger, “Anymal - a highly mobile and dynamic quadrupedal robot,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2016, pp. 38–44
2016
Earlier work this paper cites.
W. Bosworth, J. Whitney, S. Kim, and N. Hogan, “Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ,” in 2016 IEEE International Conference on Robotics and Automation (ICRA) , 2016, pp. 3582–3589
2016
Earlier work this paper cites.
H.-W. Park, P. M. Wensing, and S. Kim, “High-speed bounding with the mit cheetah 2: Control design and experiments,” The International Journal of Robotics Research , vol. 36, no. 2, pp. 167–192, 2017
2017
Cited alongside, same era.
S.-H. Kim, “Chapter 2 - control of direct current motors,” in Electric Motor Control , S.-H. Kim, Ed. Elsevier, 2017, pp. 39–93
2017
Cited alongside, same era.
P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang, and S. Kim, “Proprioceptive actuator design in the mit cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic legged robots,” IEEE Transactions on Robotics , vol. 33, no. 3, pp. 509–522, 2017
2017
Cited alongside, same era.
J. Hwangbo, J. Lee, and M. Hutter, “Per-contact iteration method for solving contact dynamics,” IEEE Robotics and Automation Letters , vol. 3, no. 2, pp. 895–902, 2018. [Online]. Available: www.raisim.com
2018
Cited alongside, same era.
A. Kumar, Z. Fu, D. Pathak, and J. Malik, “Rma: Rapid motor adaptation for legged robots,” 2021
2021
Later among the works it cites.
2021
Later among the works it cites.
T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning robust perceptive locomotion for quadrupedal robots in the wild,” Science Robotics , vol. 7, no. 62, p. eabk2822, 2022. [Online]. Available: https://www.science.org/doi/abs/10.1126/scirobotics.abk2822
2022
Later among the works it cites.
G. B. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal, “Rapid locomotion via reinforcement learning,” 2022
2022
Later among the works it cites.
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G. Bledt, M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim, “Mit cheetah 3: Design and control of a robust, dynamic quadruped robot,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018, pp. 2245–2252
2018
Cited alongside, same era.
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter, “Learning agile and dynamic motor skills for legged robots,” Science Robotics , vol. 4, no. 26, p. eaau5872, 2019
2019
Cited alongside, same era.
B. Katz, J. D. Carlo, and S. Kim, “Mini cheetah: A platform for pushing the limits of dynamic quadruped control,” in 2019 International Conference on Robotics and Automation (ICRA) , 2019, pp. 6295–6301
2019
Cited alongside, same era.
X. Wang, “Aliengo,” [Online]. Available: https://www.unitree.com/products/aliengo/ , [Accessed: 15-Nov-2019]
2019
Cited alongside, same era.
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning quadrupedal locomotion over challenging terrain,” Science Robotics , vol. 5, no. 47, p. eabc5986, 2020
2020
Cited alongside, same era.
S. Fahmi, M. Focchi, A. Radulescu, G. Fink, V. Barasuol, and C. Semini, “Stance: Locomotion adaptation over soft terrain,” IEEE Transactions on Robotics , vol. 36, no. 2, pp. 443–457, 2020
2020
Cited alongside, same era.
“Robodrive.” [Online]. Available: https://www.tq-group.com/en/products/tq-robodrive
Cited in the paper.
“Spot.” [Online]. Available: https://bostondynamics.com/products/spot/
Cited in the paper.
2022
Later among the works it cites.
Y.-H. Shin, S. Hong, S. Woo, J. Choe, H. Son, G. Kim, J.-H. Kim, K. Lee, J. Hwangbo, and H.-W. Park, “Design of kaist hound, a quadruped robot platform for fast and efficient locomotion with mixed-integer nonlinear optimization of a gear train,” in 2022 International Conference on Robotics and Automation (ICRA) , 2022, pp. 6614–6620
2022
Later among the works it cites.
G. Ji, J. Mun, H. Kim, and J. Hwangbo, “Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion,” IEEE Robotics and Automation Letters , vol. 7, no. 2, pp. 4630–4637, 2022
2022
Later among the works it cites.
S. Choi, G. Ji, J. Park, H. Kim, J. Mun, J. H. Lee, and J. Hwangbo, “Learning quadrupedal locomotion on deformable terrain,” Science Robotics , vol. 8, no. 74, p. eade2256, 2023. [Online]. Available: https://www.science.org/doi/abs/10.1126/scirobotics.ade2256
2023
Closest in time.
Y. Kim, H. Oh, J. Lee, J. Choi, G. Ji, M. Jung, D. Youm, and J. Hwangbo, “Not only rewards but also constraints: Applications on legged robot locomotion,” 2023
2023
Closest in time.