Force control for Robust Quadruped Locomotion: A Linear Policy Approach

Force control for Robust Quadruped Locomotion: A Linear Policy Approach


Abstract

This work presents a simple linear policy for direct force control for quadrupedal robot locomotion. The motivation is that force control is essential for highly dynamic and agile motions. Unlike the majority of the existing works that use complex nonlinear function approximators to represent the RL policy or model predictive control (MPC) methods with many optimization variables in the order of hundred, our controller uses a simple linear function approximator to represent policy. We demonstrate this compute-efficient controller on our robot Stoch3 in simulation and real-world experiments on indoor and outdoor terrains with push recovery.

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2023
May
PDF Force Control for Robust Quadrupedal Locomotion: A Linear Policy Approach
Aditya Shirwatkar*, Vamshi Kumar Kurva*, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, and Shishir Kolathaya
IEEE International Conference on Robotics and Automation (ICRA) 2023, London, UK

People

Aditya Shirwatkar
Model Based RL
Vamshi Kumar Kurva
Learning Based Control
Devaraju Vinoda
MTech CSA,2022, Now at Oracle
Shishir Kolathaya
Assistant Professor, CSA & CPS, IISc
Last updated: 2023-01-28