A Study on the Energy Efficiency of Various Gaits for Quadruped Robots: Generation and Evaluation

Roman Zashchitin, Dmitrii Dobriborsci

2023

Abstract

This paper presents an approach for generating various types of gaits for quadrupedal robots using limb contact sequencing. The aim of this research is to explore the capabilities of reinforcement learning in reproducing and optimizing locomotion patterns. The proposed method utilizes the PPO algorithm, which offers improved performance and ease of implementation. By specifying a sequence of limb contacts with the ground, gaits such as Canter, Half bound, Pace, Rotary gallop, and Trot are generated. The analysis includes evaluating the energy efficiency and stability of the generated gaits. The results demonstrate energy-efficient locomotion patterns and the ability to maintain stability. The findings of this study have significant implications for the practical application of legged robots in various domains, including inspection, construction, elderly care, and home security. Overall, this research showcases the potential of reinforcement learning in gait generation and highlights the importance of energy efficiency and stability in legged robot locomotion.

Paper Citation

in Harvard Style

Zashchitin R. and Dobriborsci D. (2023). A Study on the Energy Efficiency of Various Gaits for Quadruped Robots: Generation and Evaluation. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 311-319. DOI: 10.5220/0012234600003543

in Bibtex Style

@conference{icinco23,
author={Roman Zashchitin and Dmitrii Dobriborsci},
title={A Study on the Energy Efficiency of Various Gaits for Quadruped Robots: Generation and Evaluation},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={311-319},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012234600003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A Study on the Energy Efficiency of Various Gaits for Quadruped Robots: Generation and Evaluation
SN - 978-989-758-670-5
AU - Zashchitin R.
AU - Dobriborsci D.
PY - 2023
SP - 311
EP - 319
DO - 10.5220/0012234600003543
PB - SciTePress