<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Legged robots are uniquely privileged over their wheeled counterparts in their potential to access rugged terrain. However, designing walking gaits by hand for legged robots is a difficult and time-consuming process, so we seek algorithms for learning such gaits to automatically using real world experimentation. Numerous previous studies have examined a variety of algorithms for learning gaits, using an assortment of different robots. It is often difficult to compare the algorithmic results from one study to the next, because the conditions and robots used vary. With this in mind, we have used an open-source, 3D printed quadruped robot called QuadraTot, so the results may be verified, and hopefully improved upon, by any group so desiring. Because many robots do not have accurate simulators, we test gait-learning algorithms entirely on the physical robot. Previous studies using the QuadraTot have compared parameterized splines, the HyperNEAT generative encoding and genetic algorithm. Among these, the research on the genetic algorithm was conducted by (G l e t t e et al., 2012) in a simulator and tested on a real robot. Here we compare these results to an algorithm called Policy learning by Weighting Exploration with the Returns, or RL PoWER. We report that this algorithm has learned the fastest gait through only physical experiments yet reported in the literature, 16.3% faster than reported for HyperNEAT. In addition, the learned gaits are less taxing on the robot and more repeatable than previous record-breaking gaits.</p></abstract>

Legged robots are uniquely privileged over their wheeled counterparts in their potential to access rugged terrain. However, designing walking gaits by hand for legged robots is a difficult and time-consuming process, so we seek algorithms for learning such gaits to automatically using real world experimentation. Numerous previous studies have examined a variety of algorithms for learning gaits, using an assortment of different robots. It is often difficult to compare the algorithmic results from one study to the next, because the conditions and robots used vary. With this in mind, we have used an open-source, 3D printed quadruped robot called QuadraTot, so the results may be verified, and hopefully improved upon, by any group so desiring. Because many robots do not have accurate simulators, we test gait-learning algorithms entirely on the physical robot. Previous studies using the QuadraTot have compared parameterized splines, the HyperNEAT generative encoding and genetic algorithm. Among these, the research on the genetic algorithm was conducted by (G l e t t e et al., 2012) in a simulator and tested on a real robot. Here we compare these results to an algorithm called Policy learning by Weighting Exploration with the Returns, or RL PoWER. We report that this algorithm has learned the fastest gait through only physical experiments yet reported in the literature, 16.3% faster than reported for HyperNEAT. In addition, the learned gaits are less taxing on the robot and more repeatable than previous record-breaking gaits.

Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization

Cornell University, 239 Upson Hall, Ithaca, NY 14853, USA Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy

Cybernetics and Information Technologies

{"article-title":"Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization"}

Legged robots are uniquely privileged over their wheeled counterparts in their potential to access rugged terrain. However, designing walking gaits by hand for...

Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization

Published Online: Mar 22, 2013

Page range: 66 - 75

DOI: https://doi.org/10.2478/cait-2012-0022

Keywords
Evolvable splines, parameterized gaits, HyperNEAT, machine learning, quadruped

This content is open access.

Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization

Published Online: Mar 22, 2013

Page range: 66 - 75

DOI: https://doi.org/10.2478/cait-2012-0022

KeywordsEvolvable splines, parameterized gaits, HyperNEAT, machine learning, quadruped

This content is open access.

Keywords
Evolvable splines, parameterized gaits, HyperNEAT, machine learning, quadruped