Legged robots that balance
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Coordinated Motion and Force Control of Multi-Limbed Robotic Systems
Autonomous Robots
Optimizing search engines using clickthrough data
Proceedings of the eighth ACM SIGKDD international conference on Knowledge discovery and data mining
A short introduction to learning with kernels
Advanced lectures on machine learning
Feature selection, L1 vs. L2 regularization, and rotational invariance
ICML '04 Proceedings of the twenty-first international conference on Machine learning
An Interior-Point Method for Large-Scale l1-Regularized Logistic Regression
The Journal of Machine Learning Research
Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
Operational Space Control: A Theoretical and Empirical Comparison
International Journal of Robotics Research
Journal of Artificial Intelligence Research
CHOMP: gradient optimization techniques for efficient motion planning
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Learning locomotion over rough terrain using terrain templates
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Compliant quadruped locomotion over rough terrain
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Improving traversability of quadruped walking robots using body movement in 3D rough terrains
Robotics and Autonomous Systems
Optimal distribution of contact forces with inverse-dynamics control
International Journal of Robotics Research
CHOMP: Covariant Hamiltonian optimization for motion planning
International Journal of Robotics Research
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We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization, and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstration using terrain templates, (2) a body trajectory optimizer based on the Zero-Moment Point (ZMP) stability criterion, and (3) a floating-base inverse dynamics controller that, in conjunction with force control, allows for robust, compliant locomotion over unperceived obstacles. We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrains of varying difficulty levels. The terrain that the robot was tested on includes rocks, logs, steps, barriers, and gaps, with obstacle sizes up to the leg length of the robot. We demonstrate the generalization ability of this controller by presenting results from testing performed by an independent external test team on terrain that has never been shown to us.