Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning
J. Ding (TU Delft - Learning & Autonomous Control)
Mees A.van Loben Sels (Student TU Delft)
Franco Angelini (University of Pisa)
J. Kober (TU Delft - Learning & Autonomous Control)
C. Della Santina (TU Delft - Learning & Autonomous Control, Deutsches Zentrum für Luft- und Raumfahrt (DLR))
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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.