NDLI: Online Discovery of Locomotion Modes for Wheel-legged Hybrid Robots: a Transferability-based Approach

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Online Discovery of Locomotion Modes for Wheel-legged Hybrid Robots: a Transferability-based Approach

Content Provider	Semantic Scholar
Author	Koos, Sylvain Mouret, Jean-Baptiste
Copyright Year	2011
Abstract	Wheel-legged hybrid robots promise to combine the e ciency of wheeled robots with the versatility of legged robots: they are able to roll on simple terrains, to dynamically adapt their posture and even to walk on uneven grounds. Al- though di erent locomotion modes of such robots have been studied, a pivotal question remains: how to automatically adapt the locomotion mode when the environment changes? We here propose that the robot autonomously discov- ers its locomotion mode using optimization-based learning. To that aim, we introduce a new algorithm that relies on a forward model and a stochastic multi-objective optimization. Three objectives are optimized: (1) the average displacement speed, (2) the expended energy and (3) the transferability score, which re ects how well the behavior of the robot is in agreement with the pre- dictions of the forward model. This transferability function is approximated by conducting 20 experiments of one second on the real robot during the op- timization. In the three investigated situations ( at ground, grass-like terrain, tunnel-like environment), our method found e cient controllers for forward locomotion in 1 to 2 minutes: the robot used its wheels on the at ground, it walked on the grass-like terrain and moved with a lowered body in the tunnel- like environment.
Starting Page	70
Ending Page	77
Page Count	8
File Format	PDF HTM / HTML
DOI	10.1142/9789814374286_0008
Alternate Webpage(s)	https://hal.archives-ouvertes.fr/hal-00633930/document
Alternate Webpage(s)	http://www.isir.upmc.fr/files/2011ACTI1966.pdf
Alternate Webpage(s)	http://hal.inria.fr/docs/00/63/39/30/PDF/koos_clawar2011_article.pdf
Alternate Webpage(s)	https://doi.org/10.1142/9789814374286_0008
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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