Learning optimal gait parameters and impedance profiles for legged locomotion
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)(2017)
摘要
The successful execution of complex modern robotic tasks often relies on the correct tuning of a large number of parameters. In this paper we present a methodology for improving the performance of a trotting gait by learning the gait parameters, impedance profile and the gains of the control architecture. We show results on a set of terrains, for various speeds using a realistic simulation of a hydraulically actuated system. Our method achieves a reduction in the gait's mechanical energy consumption during locomotion of up to 26%. The simulation results are validated in experimental trials on the hardware system.
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关键词
control architecture,trotting gait,correct tuning,complex modern robotic tasks,legged locomotion,impedance profile,optimal gait parameters,hydraulically actuated system,realistic simulation
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