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FastMimic: Model-Based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion
Cited 2 time in
Web of Science
Cited 2 time in Scopus
- Authors
- Issue Date
- 2023-06
- Publisher
- MDPI AG
- Citation
- Robotics, Vol.12 No.3, p. 90
- Abstract
- Robots operating in human environments require a diverse set of skills, including slow and fast walking, turning, side-stepping, and more. However, developing robot controllers capable of exhibiting such a broad range of behaviors is a challenging problem that necessitates meticulous investigation for each task. To address this challenge, we introduce a trajectory optimization method that resolves the kinematic infeasibility of reference animal motions. This method, combined with a model-based controller, results in a unified data-driven model-based control framework capable of imitating various animal gaits without the need for expensive simulation training or real-world fine-tuning. Our framework is capable of imitating a variety of motor skills such as trotting, pacing, turning, and side-stepping with ease. It shows superior tracking capabilities in both simulations and the real world compared to other imitation controllers, including a model-based one and a learning-based motion imitation technique.
- ISSN
- 2218-6581
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