S-Cheetah：一种具有3自由度主动脊柱学习敏捷运动的新型四足机器人
S-Cheetah: A Novel Quadrupedal Robot with a 3-DOF Active Spine Learning Agile Locomotion
AI总结：
本文提出一种具有3自由度仿生主动脊柱的四足机器人S-Cheetah，并设计强化学习框架使其实现高速奔跑、原地转向及空中自翻等敏捷运动。
摘要：
四足动物的生物脊柱能够实现矢状面的屈伸、侧向弯曲和轴向旋转，在高度敏捷和灵巧的运动中起着关键作用。尽管许多研究已将主动脊柱关节集成到四足机器人中以增强敏捷性，但大多数设计通过减少脊柱自由度来简化控制复杂性，未能实现生物脊柱的空间三轴旋转特性。因此，复制多自由度仿生脊柱并有效利用它来赋能四足机器人的敏捷运动仍然是一个重要的研究挑战。在本研究中，我们提出了S-Cheetah，一种具有3自由度仿生串联主动脊柱的四足机器人，能够实现仿生空间三轴旋转。为了使机器人充分利用这一主动脊柱，我们开发了一个专门的强化学习框架，通过整合加速度课程学习策略和定制的奖励函数（如奔跑步态奖励、脊柱波动奖励和脊柱转向奖励），积极促进引入的脊柱的参与并最大化机器人的运动能力。实验结果表明，S-Cheetah使用旋转G2奔跑步态可以达到6.9米/秒的峰值速度，原地转向率为7.2弧度/秒。此外，该系统展现出一种新兴的、受猫启发的空中自翻能力，使其在自由落体过程中能够从任意方向稳定地四足着地。最后，通过在不同运动任务中的广泛评估，我们证明了所提出的3自由度脊柱的引入全面增强了四足机器人的运动敏捷性。项目网站：himmy-robotics.github.io/scheetah
英文摘要：
The biological spine of quadrupeds enables sagittal flexion/extension, lateral bending, and axial rotation, playing a crucial role in highly agile and dexterous locomotion. While numerous studies have integrated active spinal joints into quadrupedal robots to enhance agility, most designs simplify control complexity by reducing spinal degrees of freedom (DOF), failing to achieve the spatial tri-axial rotation characteristic of biological spines. Consequently, replicating a multi-DOF biomimetic spine and effectively leveraging it to empower the agile locomotion of quadrupedal robots remains a significant research challenge. In this study, we present S-Cheetah, a quadrupedal robot featuring a 3-DOF bio-inspired serial active spine capable of biomimetic spatial tri-axial rotation. To empower the robot to fully utilize this active spine, we developed a specialized reinforcement learning framework to actively promote the engagement of the introduced spine and maximize the robot's locomotive capabilities by integrating an acceleration curriculum learning strategy with tailored reward functions, such as a gallop gait reward, a spine undulation reward, and a spine steering reward. Experimental results demonstrate that S-Cheetah can achieve a peak speed of 6.9 m/s using the rotary G2 gallop gait and an in-place turning rate of 7.2 rad/s. Besides, the system exhibits an emergent, feline-inspired aerial self-righting capability, allowing it to land stably on four feet from arbitrary orientations during free fall. Finally, through extensive evaluations across diverse locomotion tasks, we prove that the introduction of the proposed 3-DOF spine comprehensively enhances the locomotive agility of quadrupedal robots. Project website: himmy-robotics.github.io/scheetah
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。
