DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning

Ding, Jiatao and Sels, Mees A. van Löben and Angelini, Franc and Kober, Jens and Della Santina, Cosimo (2023) Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning. IEEE Robotics and Automation Letters, 9 (1), pp. 255-262. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3331288. ISSN 2377-3766.

Full text not available from this repository.

Official URL: https://ieeexplore.ieee.org/document/10313054


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.

Item URL in elib:https://elib.dlr.de/202328/
Document Type:Article
Title:Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ding, JiataoTU Delfthttps://orcid.org/0000-0002-2396-9688UNSPECIFIED
Sels, Mees A. van LöbenTU Delfthttps://orcid.org/0009-0006-9598-6328UNSPECIFIED
Angelini, FrancUniversità Di PisaUNSPECIFIEDUNSPECIFIED
Kober, JensUNSPECIFIEDhttps://orcid.org/0000-0001-7257-5434UNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:8 November 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 255-262
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:soft robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Basic Technologies [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Jan 2024 14:58
Last Modified:23 Jan 2024 14:58

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.