Yao, Q;
Meng, L;
Zhang, Q;
Zhao, J;
Pajarinen, J;
Wang, X;
Li, Z;
(2023)
Learning-Based Propulsion Control for Amphibious Quadruped Robots With Dynamic Adaptation to Changing Environment.
IEEE Robotics and Automation Letters
, 8
(12)
pp. 7889-7896.
10.1109/LRA.2023.3323893.
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Abstract
This letter proposes a learning-based adaptive propulsion control (APC) method for a quadruped robot integrated with thrusters in amphibious environments, allowing it to move efficiently in water while maintaining its ground locomotion capabilities. We designed the specific reinforcement learning method to train the neural network to perform the vector propulsion control. Our approach coordinates the legs and propeller, enabling the robot to achieve speed and trajectory tracking tasks in the presence of actuator failures and unknown disturbances. Our simulated validations of the robot in water demonstrate the effectiveness of the trained neural network to predict the disturbances and actuator failures based on historical information, showing that the framework is adaptable to changing environments and is suitable for use in dynamically changing situations. Our proposed approach is suited to the hardware augmentation of quadruped robots to create avenues in the field of amphibious robotics and expand the use of quadruped robots in various applications.
| Type: | Article |
|---|---|
| Title: | Learning-Based Propulsion Control for Amphibious Quadruped Robots With Dynamic Adaptation to Changing Environment |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/LRA.2023.3323893 |
| Publisher version: | https://doi.org/10.1109/LRA.2023.3323893 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Quadruped robots, amphibious robots, robot learning, reinforcement learning |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10188124 |
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