Print Email Facebook Twitter Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning Title Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning Author Ding, J. (TU Delft Learning & Autonomous Control) Sels, Mees A.van Loben (Student TU Delft) Angelini, Franco (University of Pisa) Kober, J. (TU Delft Learning & Autonomous Control) Della Santina, C. (TU Delft Learning & Autonomous Control; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)) Date 2023 Abstract Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting-edge model-based trajectory optimization and iterative learning control. Using a reduced-order soft anchor model, the optimization-based motion planner generates the periodic reference trajectory. The controller then iteratively learns the feedforward control signal in a repetition process, without requiring an accurate full-body model. When enhanced by a continuous learning mechanism, the proposed controller can learn the control inputs without resetting the system at the end of each iteration. Simulations and experiments on a quadruped with parallel springs demonstrate that continuous jumping can be learned in a matter of minutes, with high robustness against various types of terrain. Subject DynamicsFeedforward systemsLegged RobotsMorphologyMotion ControlOptimization and Optimal ControlQuadrupedal robotsRobotsSpringsTrajectory optimization To reference this document use: http://resolver.tudelft.nl/uuid:fd123eec-f8c2-41ab-88e0-dcfefbc639a7 DOI https://doi.org/10.1109/LRA.2023.3331288 Embargo date 2024-05-08 ISSN 2377-3766 Source IEEE Robotics and Automation Letters, 9 (1), 255-262 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2023 J. Ding, Mees A.van Loben Sels, Franco Angelini, J. Kober, C. Della Santina Files PDF Robust_Jumping_With_an_Ar ... arning.pdf 1.74 MB Close viewer /islandora/object/uuid:fd123eec-f8c2-41ab-88e0-dcfefbc639a7/datastream/OBJ/view