Turrisi, Giulio;
Modugno, Valerio;
Amatucci, Lorenzo;
Kanoulas, Dimitrios;
Semini, Claudio;
(2024)
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion.
In:
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 13757-13764).
IEEE: Abu Dhabi, United Arab Emirates.
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Abstract
Quadrupedal robots excel in mobility, navigating complex terrains with agility. However, their complex control systems present challenges that are still far from being fully addressed. In this paper, we introduce the use of Sample-Based Stochastic control strategies for quadrupedal robots, as an alternative to traditional optimal control laws. We show that Sample-Based Stochastic methods, supported by GPU acceleration, can be effectively applied to real quadruped robots. In particular, in this work, we focus on achieving gait frequency adaptation, a notable challenge in quadrupedal locomotion for gradient-based methods. To validate the effectiveness of Sample-Based Stochastic controllers we test two distinct approaches for quadrupedal robots and compare them against a conventional gradientbased Model Predictive Control system. Our findings, validated both in simulation and on a real 21Kg Aliengo quadruped, demonstrate that our method is on par with a traditional Model Predictive Control strategy when the robot is subject to zero or moderate disturbance, while it surpasses gradient-based methods in handling sustained external disturbances, thanks to the straightforward gait adaptation strategy that is possible to achieve within their formulation.
| Type: | Proceedings paper |
|---|---|
| Title: | On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion |
| Event: | 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| ISBN-13: | 979-8-3503-7770-5 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS58592.2024.10801698 |
| Publisher version: | https://doi.org/10.1109/IROS58592.2024.10801698 |
| 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: | Legged locomotion; Visualization; Torque control; Stochastic processes; Graphics processing units; Real-time systems; Quadrupedal robots; Frequency control; Predictive control; Testing |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10203741 |
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