Learning Flexible and Reusable Locomotion Primitives for a Microrobot

摘要

The design of gaits for robot locomotion can be a daunting process, which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant or micro-scale robots. Data-driven gait optimization provides an automated alternative to analytical gait design. In this letter, we propose a novel approach to efficiently learn a wide range of locomotion tasks with walking robots. This approach formalizes locomotion as a contextual policy search task to collect data, and subsequently uses that data to learn multiobjective locomotion primitives that can be used for planning. As a proof-of-concept we consider a simulated hexapod modeled after a recently developed microrobot, and we thoroughly evaluate the performance of this microrobot on different tasks and gaits. Our results validate the proposed controller and learning scheme on single and multiobjective locomotion tasks. Moreover, the experimental simulations show that without any prior knowledge about the robot used (e.g., dynamics model), our approach is capable of learning locomotion primitives within 250 trials and subsequently using them to successfully navigate through a maze.