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Toward a Data-Driven Template Model for Quadrupedal Locomotion

Fawcett, Randall T. and Afsari, Kereshmeh and Ames, Aaron D. and Hamed, Kaveh Akbari (2022) Toward a Data-Driven Template Model for Quadrupedal Locomotion. IEEE Robotics and Automation Letters, 7 (3). pp. 7636-7643. ISSN 2377-3766. doi:10.1109/lra.2022.3184007.

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This work investigates a data-driven template model for trajectory planning of dynamic quadrupedal robots. Many state-of-the-art approaches involve using a reduced-order model, primarily due to computational tractability. The spirit of the trajectory planning approach in this work draws on recent advancements in the area of behavioral systems theory. Here, we aim to capitalize on the knowledge of well-known template models to construct a data-driven model, enabling us to obtain an information rich reduced-order model. In particular, this work considers input-output states similar to that of the single rigid body model and proceeds to develop a data-driven representation of the system, which is then used in a predictive control framework to plan a trajectory for quadrupeds. The optimal trajectory is passed to a low-level and nonlinear model-based controller to be tracked. Preliminary experimental results are provided to establish the efficacy of this hierarchical control approach for trotting and walking gaits of a high-dimensional quadrupedal robot on unknown terrains and in the presence of disturbances.

Item Type:Article
Related URLs:
URLURL TypeDescription
Fawcett, Randall T.0000-0002-7704-2706
Afsari, Kereshmeh0000-0002-8110-8683
Ames, Aaron D.0000-0003-0848-3177
Hamed, Kaveh Akbari0000-0001-9597-1691
Additional Information:© 2022 IEEE. Manuscript received 24 February 2022; accepted 8 June 2022. Date of publication 17 June 2022; date of current version 28 June 2022. This letter was recommended for publication by Associate Editor J. Carpentier and Editor A. Kheddar upon evaluation of the reviewers’ comments. The work of Randall T. Fawcett and Kereshmeh Afsari was supported by the National Science Foundation (NSF) under Grant 2128948. The work of Kaveh Akbari Hamed was supported by NSF under Grants 1923216 and 2128948. The work of Aaron D. Ames was supported by the NSF under Grant 1923239.
Funding AgencyGrant Number
Subject Keywords:Legged robots, motion control, multi-contact whole-body motion planning and control
Issue or Number:3
Record Number:CaltechAUTHORS:20220712-629677000
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Official Citation:R. T. Fawcett, K. Afsari, A. D. Ames and K. A. Hamed, "Toward a Data-Driven Template Model for Quadrupedal Locomotion," in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7636-7643, July 2022, doi: 10.1109/LRA.2022.3184007
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115512
Deposited By: George Porter
Deposited On:13 Jul 2022 19:41
Last Modified:13 Jul 2022 19:41

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