Tirumala, S and Gubbi, S and Paigwar, K and Sagi, A and Joglekar, A and Bhatnagar, S and Ghosal, A and Amrutur, B and Kolathaya, S (2020) Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations. In: 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020, 31 Aug - 4 Sept 2020, Virtual, Naples; Italy, pp. 1107-1112.
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Abstract
With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously varying target linear and angular velocities, in a stable manner. In this paper, we propose a two pronged approach to address this problem. First, multiple simpler policies are trained to generate trajectories for a discrete set of target velocities and turning radius. These policies are then augmented using a higher level neural network for handling the transition between the learned trajectories. Specifically, we develop a neural network based filter that takes in target velocity, radius and transforms them into new commands that enable smooth transitions to the new trajectory. This transformation is achieved by learning from expert demonstrations. An application of this is the transformation of a novice user's input into an expert user's input, thereby ensuring stable manoeuvres regardless of the user's experience. Training our proposed architecture requires much less expert demonstrations compared to standard neural network architectures. Finally, we demonstrate experimentally these results in the in-house quadruped Stoch 2. © 2020 IEEE.
| Item Type: | Conference Paper |
|---|---|
| Publication: | 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020 |
| Publisher: | Institute of Electrical and Electronics Engineers Inc. |
| Additional Information: | the copyright of this article belongs to Institute of Electrical and Electronics Engineers Inc. |
| Keywords: | Agricultural robots; Demonstrations; Multipurpose robots; Network architecture; Neural networks; Trajectories; User experience, Discrete sets; Locomotion controllers; Proposed architectures; Quadruped Robots; Smooth transitions; Standard neural; Target velocity; Turning radius, Social robots |
| Department/Centre: | Division of Electrical Sciences > Computer Science & Automation Division of Electrical Sciences > Electrical Communication Engineering Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems |
| Date Deposited: | 04 Mar 2021 08:05 |
| Last Modified: | 04 Mar 2021 08:05 |
| URI: | http://eprints.iisc.ac.in/id/eprint/67398 |
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