Probabilistic Inferences on Quadruped Robots: An Experimental Comparison

doi:10.1109/ROBIO49542.2019.8961870

	Probabilistic Inferences on Quadruped Robots: An Experimental Comparison
	Zhu, Jiahui; Rong, Chunyan; Rosendo, Andre
	2019-12
会议录名称	2019 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
页码	1892-1898
发表状态	已发表
DOI	10.1109/ROBIO49542.2019.8961870
摘要	Due to the reality gap, computer software cannot fully model the physical robot in its environment, with noise, ground friction, and energy consumption. Consequently, a limited number of researchers work on applying machine learning in real-world robots. In this paper, we use two intelligent black-box optimization algorithms, Bayesian Optimization (BO) and Covariance Matrix Adaptation Evolution Strategy (CMA-ES), to solve a quadruped robot gait's parametric search problem in 10 dimensions, and compare these two methods to find which one is more suitable for legged robots' controller parameters tuning. Our results show that both methods can find an optimal solution in 130 iterations. BO converges faster than CMA-ES within its constrained range, while CMA-ES finds the optimum in the continuous space. Compared with the specific controller parameters of two methods, we also find that for quadruped robot's oscillators, the angular amplitude is the most important parameter. Thus, it is very beneficial for the quick parametric search of legged robots' controllers and avoids time-consuming manual tuning.
会议地点	Dali, China
会议日期	6-8 Dec. 2019
URL	查看原文
收录类别	EI
资助项目	[0830000081] ; National Natural Science Foundation of China[61850410527]
出版者	Institute of Electrical and Electronics Engineers Inc.
EI入藏号	20200608145965
EI主题词	Biomimetics ; Biped locomotion ; Controllers ; Covariance matrix ; Energy utilization ; Green computing ; Intelligent robots ; Multipurpose robots ; Robotics
EI分类号	Bioengineering and Biology:461 ; Energy Utilization:525.3 ; Robotics:731.5 ; Robot Applications:731.6 ; Control Equipment:732.1 ; Mathematics:921 ; Optimization Techniques:921.5
原始文献类型	Conferences
来源库	IEEE
引用统计	正在获取...
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/104295
专题	信息科学与技术学院_硕士生信息科学与技术学院_PI研究组_ANDRE LUIS MACEDO ROSENDO SILVA组
作者单位	ShanghaiTech University, School of Information Science and Technology, Shanghai, China
第一作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Zhu, Jiahui,Rong, Chunyan,Rosendo, Andre. Probabilistic Inferences on Quadruped Robots: An Experimental Comparison[C]:Institute of Electrical and Electronics Engineers Inc.,2019:1892-1898.