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Learning Agile Bipedal Motions on a Quadrupedal Robot
Can a quadrupedal robot perform bipedal motions like humans? Although
developing human-like behaviors is more often studied on costly bipedal robot
platforms, we present a solution over a lightweight quadrupedal robot that
unlocks the agility of the quadruped in an upright standing pose and is capable
of a variety of human-like motions. Our framework is with a bi-level structure.
At the low level is a motion-conditioned control policy that allows the
quadrupedal robot to track desired base and front limb movements while
balancing on two hind feet. The policy is commanded by a high-level motion
generator that gives trajectories of parameterized human-like motions to the
robot from multiple modalities of human input. We for the first time
demonstrate various bipedal motions on a quadrupedal robot, and showcase
interesting human-robot interaction modes including mimicking human videos,
following natural language instructions, and physical interaction
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