Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control
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Author / Producer
Date
2021
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
In this paper, we explore the challenge of generating animal-like walking motions for legged robots. To this end, we propose a versatile and robust control pipeline that combines a state-of-the-art model-based controller with a data-driven technique that is commonly used in computer animation. We demonstrate the efficacy of our control framework on a variety of quadrupedal robots in simulation. We show, in particular, that our approach can automatically reproduce key characteristics of animal motions, including speed-specific gaits, unscripted footfall patterns for nonperiodic motions, and natural small variations in overall body movements.
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Publication status
published
Editor
Book title
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Journal / series
Volume
Pages / Article No.
8500 - 8507
Publisher
IEEE
Event
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Legged robotics; Animatronics; Quadrupedal Robots; Robust control; Computational modeling; Pipelines; Animation
Organisational unit
09620 - Coros, Stelian / Coros, Stelian
Notes
Funding
866480 - Computational Models of Motion for Fabrication-aware design of Bioinspired Systems (EC)