Control of Legged Robots using Model Predictive Optimized Path Integral
Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. However, such robots have not yet achieved the same level as seen in natural systems. Recently, sampling-based predictive controllers have demonstrated particularly promising results. This paper investigates a sampling-based model predictive strategy combining model predictive path integral (MPPI) with cross-entropy (CE) and covariance matrix adaptation (CMA) methods to generate real-time whole-body motions for legged robots across multiple scenarios. The results show that combining the benefits of MPPI, CE and CMA, namely using model predictive optimized path integral (MPOPI), demonstrates greater sample efficiency, enabling robots to attain superior locomotion results using fewer samples when compared to typical MPPI algorithms. Extensive simulation experiments in multiple scenarios on a quadruped robot show that MPOPI can be used as an anytime control strategy, increasing locomotion capabilities at each iteration.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Efficient Learning-Based Control of a Legged Robot in Lunar Gravity
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' …
Reinforcement LearningA Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm,…
Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots
Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improv…
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom…
Generating Diverse Challenging Terrains for Legged Robots Using Quality-Diversity Algorithm
While legged robots have achieved significant advancements in recent years, ensuring the robustness of their controllers on unstructured terrains remains challenging. It requires generating diverse and challenging unstru…
Diversity