The control problem of wheeled-legged locomotion is still an open problem in the robotics community. Each leg has multiple discrete control modes (rolling, point-foot mode, swing phase), which results in highly nonlinear system dynamics. Most existing works rely on model-based control approaches, and they reduce the complexity of the problem by introducing handcrafted contact sequences or simplified dynamics models. In this work, we attempt to develop a locomotion controller for a wheeled-legged robot using model-free Reinforcement Learning (RL). We train a control policy in simulation, where we simulate the full dynamics of the system and random external disturbances. We then deploy the trained policy on the real robot. Like recent state-of-the-arts in legged locomotion using RL, our preliminary results show that RL is a promising framework for wheeled-legged robots. The policy learns to dynamically switch between driving mode and walking mode in response to the user command and terrain.


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    Titel :

    Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Cascalho, José M. (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Mendes, Armando (Herausgeber:in) / Goher, Khaled (Herausgeber:in) / Funk, Matthias (Herausgeber:in) / Lee, Joonho (Autor:in) / Bjelonic, Marko (Autor:in) / Hutter, Marco (Autor:in)

    Kongress:

    Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022



    Erscheinungsdatum :

    25.08.2022


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning

    Lee, Joonho / Bjelonic, Marko / Hutter, Marco | TIBKAT | 2023


    ODYSSEUS robot: the wheeled/legged version

    Bourbakis, N.G. | IEEE | 1992


    A Survey of Wheeled-Legged Robots

    Bjelonic, Marko / Klemm, Victor / Lee, Joonho et al. | TIBKAT | 2023


    A Survey of Wheeled-Legged Robots

    Bjelonic, Marko / Klemm, Victor / Lee, Joonho et al. | Springer Verlag | 2022


    History of quadrupeds

    Pennant, Thomas | TIBKAT | 1781