2024-04-30 スイス連邦工科大学ローザンヌ校(EPFL)
＜関連情報＞
- https://actu.epfl.ch/news/trotting-robots-reveal-emergence-of-animal-gait–2/
- https://www.nature.com/articles/s41467-024-47443-w
困難な地形での俊敏な四足歩行運動学習において、生存可能性が歩行遷移の出現につながる Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains
Milad Shafiee,Guillaume Bellegarda & Auke Ijspeert
Nature Communications Published:09 April 2024
DOI:https://doi.org/10.1038/s41467-024-47443-w
Abstract
Quadruped animals are capable of seamless transitions between different gaits. While energy efficiency appears to be one of the reasons for changing gaits, other determinant factors likely play a role too, including terrain properties. In this article, we propose that viability, i.e., the avoidance of falls, represents an important criterion for gait transitions. We investigate the emergence of gait transitions through the interaction between supraspinal drive (brain), the central pattern generator in the spinal cord, the body, and exteroceptive sensing by leveraging deep reinforcement learning and robotics tools. Consistent with quadruped animal data, we show that the walk-trot gait transition for quadruped robots on flat terrain improves both viability and energy efficiency. Furthermore, we investigate the effects of discrete terrain (i.e., crossing successive gaps) on imposing gait transitions, and find the emergence of trot-pronk transitions to avoid non-viable states. Viability is the only improved factor after gait transitions on both flat and discrete gap terrains, suggesting that viability could be a primary and universal objective of gait transitions, while other criteria are secondary objectives and/or a consequence of viability. Moreover, our experiments demonstrate state-of-the-art quadruped robot agility in challenging scenarios.
