在四足机器人上学习敏捷双足运动
Learning Agile Bipedal Motions on a Quadrupedal Robot
AI总结：
本文提出分层框架，通过高层运动生成器与底层运动条件控制策略，使轻量级四足机器人能以后脚双足直立并完成多种类人敏捷运动及多模态人机交互。
摘要：
四足机器人能否像人类一样执行双足运动？尽管类人行为的开发更多是在昂贵的双足机器人平台上研究，但我们提出了一种在轻量级四足机器人上的解决方案，在直立站立姿态下释放四足机器人的敏捷性，并能够完成多种类人运动。我们的框架采用分层结构。底层是一个运动条件控制策略，使四足机器人能够在依靠两只后脚保持平衡的同时，跟踪期望的基座和前肢运动。该策略由高层运动生成器指挥，后者根据多种模态的人类输入，向机器人提供参数化类人运动的轨迹。我们首次在四足机器人上展示了多种双足运动，并展示了有趣的人机交互模式，包括模仿人类视频、遵循自然语言指令以及物理交互。视频可在 https://sites.google.com/view/bipedal-motions-quadruped 获取。
英文摘要：
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 hierarchical 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. The video is available at https://sites.google.com/view/bipedal-motions-quadruped.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
