Ding, Jiatao und Sels, Mees A. van Löben und Angelini, Franc und Kober, Jens und Della Santina, Cosimo (2023) Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning. IEEE Robotics and Automation Letters, 9 (1), Seiten 255-262. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3331288. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/10313054
Kurzfassung
Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting-edge model-based trajectory optimization and iterative learning control. Using a reduced-order soft anchor model, the optimization-based motion planner generates the periodic reference trajectory. The controller then iteratively learns the feedforward control signal in a repetition process, without requiring an accurate full-body model. When enhanced by a continuous learning mechanism, the proposed controller can learn the control inputs without resetting the system at the end of each iteration. Simulations and experiments on a quadruped with parallel springs demonstrate that continuous jumping can be learned in a matter of minutes, with high robustness against various types of terrain.
elib-URL des Eintrags: | https://elib.dlr.de/202328/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning | ||||||||||||||||||||||||
Autoren: |
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Datum: | 8 November 2023 | ||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Band: | 9 | ||||||||||||||||||||||||
DOI: | 10.1109/LRA.2023.3331288 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 255-262 | ||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | soft robots | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Basistechnologien [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||||||
Hinterlegt am: | 23 Jan 2024 14:58 | ||||||||||||||||||||||||
Letzte Änderung: | 23 Jan 2024 14:58 |
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