Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Alexander L. Mitchell,Wolfgang Merkt,Mathieu Geisert,Siddhant Gangapurwala,Martin Engelcke,Oiwi Parker Jones,Ioannis Havoutis,Ingmar Posner,Alexander L. Mitchell,Wolfgang Merkt,Mathieu Geisert,Siddhant Gangapurwala,Martin Engelcke,Oiwi Parker Jones,Ioannis Havoutis,Ingmar Posner
Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecting from a range of pre-computed styles, current planners are unable to vary key gait parameters continuously while the robot is in motion. The synthesis, on-the-fly, of gaits with unexpected operational characteristics o...
