IEEE Robotics & Automation Magazine - March 2016 - 34
Practice Makes
Perfect
An Optimization-Based Approach to Controlling
Agile Motions for a Quadruped Robot
T
By Christian Gehring, Stelian Coros, Marco Hutter,
C. Dario Bellicoso, Huub Heijnen, Remo Diethelm,
Michael Bloesch, Péter Fankhauser,
Jemin Hwangbo, Markus A. Hoepflinger,
and Roland Siegwart
Legged Locomotion
Legged locomotion enables humans and animals to traverse
difficult environments with agility and grace. Given this remarkable ability, humans and animals have always served as a
source of inspiration for the field of robotics. However, the locomotion skills of the state-of-the-art mobile robots are still
limited compared with those seen in nature. Consequently,
Digital Object Identifier 10.1109/MRA.2015.2505910
Date of publication: 19 February 2016
34
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
his article approaches the problem of controlling
quadrupedal running and jumping motions with a
parameterized, model-based, state-feedback controller. Inspired by the motor learning principles
observed in nature, our method automatically fine
tunes the parameters of our controller by repeatedly executing
slight variations of the same motion task. This learn-throughpractice process is performed in simulation to best exploit
computational resources and to prevent the robot from damaging itself. To ensure that the simulation results match the
behavior of the hardware platform, we introduce and validate
an accurate model of the compliant actuation system. The
proposed method is experimentally verified on the torquecontrollable quadruped robot StarlETH by executing squat
jumps and dynamic gaits, such as a running trot, pronk, and a
bounding gait.
MARCH 2016
1070-9932/16©2016IEEE
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