Скачать или смотреть Animal Gaits on Quadrupedal Robots Using Motion Matching and Model Based Control - Supplementary

Supplementary video for the IROS 2021 paper
"Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control" by Dongho Kang, Simon Zimmermann, and Stelian Coros.
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

Abstract:
In this paper, we explore the challenge of generating animal-like walking motions for legged robots. To this end, we propose a versatile and robust control pipeline that combines a state-of-the-art model-based controller with a data-driven technique that is commonly used in computer animation. We demonstrate the efficacy of our control framework on a variety of quadrupedal robots in simulation. We show, in particular, that our approach can automatically reproduce key characteristics of animal motions, including speed-specific gaits, unscripted footfall patterns for nonperiodic motions, and natural small variations in overall body movements.

Acknowledgment:
This work has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme.

Project website:
https://donghok.me/animal-gaits-on-qu...

Computational Robotics Lab:
http://crl.ethz.ch/coros.html
  / computationalr2  

Dongho Kang
https://donghok.me/
   / donghokang  
  / eastskykang  

Simon Zimmermann
https://n.ethz.ch/~simonzi/

Stelian Coros
http://crl.ethz.ch/coros.html

Music: "The Jazz Piano", Royalty Free Music from Bensound.