Learning Agile Bipedal Motions on a Quadrupedal Robot
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866917603396550656 |
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| author | Li, Yunfei Li, Jinhan Fu, Wei Wu, Yi |
| author_facet | Li, Yunfei Li, Jinhan Fu, Wei Wu, Yi |
| contents | Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the agility of the quadruped in an upright standing pose and is capable of a variety of human-like motions. Our framework is with a hierarchical structure. At the low level is a motion-conditioned control policy that allows the quadrupedal robot to track desired base and front limb movements while balancing on two hind feet. The policy is commanded by a high-level motion generator that gives trajectories of parameterized human-like motions to the robot from multiple modalities of human input. We for the first time demonstrate various bipedal motions on a quadrupedal robot, and showcase interesting human-robot interaction modes including mimicking human videos, following natural language instructions, and physical interaction. The video is available at https://sites.google.com/view/bipedal-motions-quadruped. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2311_05818 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Learning Agile Bipedal Motions on a Quadrupedal Robot Li, Yunfei Li, Jinhan Fu, Wei Wu, Yi Robotics Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the agility of the quadruped in an upright standing pose and is capable of a variety of human-like motions. Our framework is with a hierarchical structure. At the low level is a motion-conditioned control policy that allows the quadrupedal robot to track desired base and front limb movements while balancing on two hind feet. The policy is commanded by a high-level motion generator that gives trajectories of parameterized human-like motions to the robot from multiple modalities of human input. We for the first time demonstrate various bipedal motions on a quadrupedal robot, and showcase interesting human-robot interaction modes including mimicking human videos, following natural language instructions, and physical interaction. The video is available at https://sites.google.com/view/bipedal-motions-quadruped. |
| title | Learning Agile Bipedal Motions on a Quadrupedal Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2311.05818 |