2021
DOI: 10.48550/arxiv.2107.08775
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Optimizing Gait Libraries via a Coverage Metric

Brian Bittner,
Shai Revzen

Abstract: Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and no longer move as designed. Here we propose a goal function we call "coverage", that represents the usefulness of a library of locomotion primitives in a manner agnostic to the particulars of the primitives themselves. We demonstrate the ability to optimize coverage on both… Show more

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