황보제민 교수

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanship and promotes the natural evolution of a control policy. However, so far, reinforcement learning research for legged robots is mainly limited to simulation, and only few and comparably simple examples have been deployed on real systems. The pr

This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during running or jumping. The presented machine was designed with a focus on outdoor suitability, simple maintenance, and user-friendly handling to enable future operation in real world scenarios. Performance tests w

ISSN:2470-9476

Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into underexplored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion: Perceiving the terrain before making contact with it enables planning and adaptation of the gait ahead of time to maintain speed and stability. However, using exteroceptive perception robustly for locomotion has remained a grand challenge in robotics. Snow, veget

This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5m tall robotic dog is torque controllable and very robust against impulsive loads during running or jumping. The presented machine was designed with a focus on outdoor suitability, simple maintenance, and user-friendly handling to enable future operation in real world scenarios. Performance tests wi

This letter introduces a new iterative method for contact dynamics problems. The proposed method is based on an efficient bisection method which iterates over each contact. We compared our approach to two existing ones for the same model and found that it is about twice as fast as the existing ones. We also introduce four different robotic simulation experiments and compare the proposed method to the most common contact solver, the projected Gauss-Seidel (PGS) method. We show that, while both me

In this letter, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation network which outputs estimates of the robot’s states such as the base linear velocity, foot height, and contact probability. We exploit a fast simulation environment to train the networks and the trained networks are transferred to the real robot. The trained p

This paper presents a control approach based on a whole body control framework combined with hierarchical optimization. Locomotion is formulated as multiple tasks (e.g. maintaining balance or tracking a desired motion of one of the limbs) which are solved in a prioritized way using QP solvers. It is shown how complex locomotion behaviors can purely emerge from robot-specific inequality tasks (i.e. torque or reaching limits) together with the optimization of balance and system manipulability. Wit

This paper presents a framework which allows a quadrupedal robot to execute dynamic gaits including trot, pace and dynamic lateral walk, as well as a smooth transition between them. Our method relies on an online ZMP based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The planner is coupled with a hierarchical whole-body controller which optimizes the whole-body motion and contact forces by solving a ca

Simulation-based reinforcement learning approaches are leading the next innovations in legged robot control. However, the resulting control policies are still not applicable on soft and deformable terrains, especially at high speed. The primary reason is that reinforcement learning approaches, in general, are not effective beyond the data distribution: The agent cannot perform well in environments that it has not experienced. To this end, we introduce a versatile and computationally efficient gr

This 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-through-practice process is performed in simulation to best exploit computational resources and to prevent the robot from damaging itself.

Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual no-slip assumption. In fact, there has been only little research on this subject. This paper addresses the problem of slipping by treating slip detection and recovery tasks separately. Our contribution to the former is a probabilistic slip estimator based on aHidden Markov Model

Legged robots require a robust and fast responding feet contact detection strategy. Common force sensors are often too heavy and can be easily damaged during impacts with the terrain. Therefore, it is desirable to detect a contact without a force sensor. This paper introduces a probabilistic contact detection strategy which considers full dynamics and differential/forward kinematics to maximize the use of available information for contact estimation. This papers shows that such strategy is much

This paper presents the design and experimental evaluations of an articulated robotic limb called Capler-Leg. The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley system is designed to be as light-weight as possible and to additionally serve as the primary cooling element, thus significantly increasing the power density and efficiency of the overall system. The total weight of active elements on the leg, i.e. the stat

Legged robots require a robust and fast responding feet contact detection strategy. Common force sensors are often too heavy and can be easily damaged during impacts with the terrain. Therefore, it is desirable to detect a contact without a force sensor. This paper introduces a probabilistic contact detection strategy which considers full dynamics and differential/forward kinematics to maximize the use of available information for contact estimation. This papers shows that such strategy is much