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First steps: latent-space control with semantic constraints for quadruped locomotion

Abstract:

Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are often non-differentiable and difficult to implement in an optimisation approach. In this work, these challenges are addressed by framing quadruped control as optimisation in a structured latent space. A deep generative model captures a statistical represen...

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Publication status:
Published
Peer review status:
Reviewed (other)

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Publisher copy:
10.1109/IROS45743.2020.9340737

Authors


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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0002-4371-4623
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Name:
Engineering & Physical Sciences Research Council
Grant:
EP/M019918/1
Publisher:
IEEE
Journal:
Proceedings of the IEEE International Workshop on Intelligent Robots and Systems (IROS) More from this journal
Pages:
5343-5350
Publication date:
2021-02-10
Acceptance date:
2020-09-29
Event title:
IROS 2020
Event location:
Online
Event website:
https://www.iros2020.org/
Event start date:
2020-10-25
Event end date:
2020-11-25
DOI:
EISSN:
2153-0866
ISSN:
2153-0858
EISBN:
978-1-7281-6212-6
ISBN:
978-1-7281-6213-3
Language:
English
Keywords:
Pubs id:
1138273
Local pid:
pubs:1138273
Deposit date:
2020-10-19

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