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Efficient learning of robust multigait quadruped locomotion for minimizing cost of transport
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Zhicheng WANG1, Xin ZHAO2, Meng Yee (Michael) CHUAH3, Zhibin LI4, Jun WU1,5, Qiuguo ZHU1,5. Efficient learning of robust multigait quadruped locomotion for minimizing cost of transport[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .
@article{title="Efficient learning of robust multigait quadruped locomotion for minimizing cost of transport",
author="Zhicheng WANG1, Xin ZHAO2, Meng Yee (Michael) CHUAH3, Zhibin LI4, Jun WU1,5, Qiuguo ZHU1,5",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="-1",
number="-1",
pages="",
year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2401070"
}
%0 Journal Article
%T Efficient learning of robust multigait quadruped locomotion for minimizing cost of transport
%A Zhicheng WANG1
%A Xin ZHAO2
%A Meng Yee (Michael) CHUAH3
%A Zhibin LI4
%A Jun WU1
%A 5
%A Qiuguo ZHU1
%A 5
%J Journal of Zhejiang University SCIENCE C
%V -1
%N -1
%P
%@ 2095-9184
%D 1998
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2401070
TY - JOUR
T1 - Efficient learning of robust multigait quadruped locomotion for minimizing cost of transport
A1 - Zhicheng WANG1
A1 - Xin ZHAO2
A1 - Meng Yee (Michael) CHUAH3
A1 - Zhibin LI4
A1 - Jun WU1
A1 - 5
A1 - Qiuguo ZHU1
A1 - 5
J0 - Journal of Zhejiang University Science C
VL - -1
IS - -1
SP -
EP -
%@ 2095-9184
Y1 - 1998
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.2401070
Abstract: Quadrupedal robots are able to exhibit a range of gaits, each with its own traversability and energyefficiency characteristics. By actively coordinating between gaits in different scenarios, energy-efficient and adaptivelocomotion can be achieved. This study investigates the performance of learned energy-efficiency policies forquadrupedal gaits under different commands. We propose a training-synthesizing framework that integrates learnedgait-conditioned locomotion policies into an efficient multiskill locomotion policy. The resulting control policiesachieved low-cost smooth switching and controllable gaits. Our results of the learned multiskill policy demonstrateseamless gait transitions while maintaining energy optimality across all commands
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