Synthesizing the optimal gait of a quadruped robot with soft actuators using deep reinforcement learning

Ji, Qinglei; Fu, Shuo; Tan, Kaige; Muralidharan, Seshagopalan Thorapalli; Lagrelius, Karin; Danelia, David; Ανδρικόπουλος, Γεώργιος; Wang, Xi Vincent; Wang, Lihui; Feng, Lei

doi:10.1016/j.rcim.2022.102382

Cited by 23 publications

(9 citation statements)

References 19 publications

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“…Further, the study concluded that integrating RL into microrobot control significantly enhanced their adaptability and performance in diverse settings. Ji et al [363] utilized soft actor-critic techniques, alongside RL, to master various walking patterns of soft robots for distinct tasks. These acquired gaits were then integrated into a proprietary robot, enabling them to carry hand tools.…”

Section: Reinforcement Learning Modelsmentioning

confidence: 99%

Hard magnetics and soft materials—a synergy

Narayanan,

Pramanik,

Arockiarajan

2024

Smart Mater. Struct.

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Hard-magnetic soft materials (hMSMs) are smart composites that consist of a mechanically soft polymer matrix impregnated with mechanically hard magnetic filler particles. This dual-phase composition renders them with exceptional magneto-mechanical properties that allow them to undergo large reversible deformations under the influence of external magnetic fields. Over the last decade, hMSMs have found extensive applications in soft robotics, adaptive structures, and biomedical devices. However, despite their widespread utility, they pose considerable challenges in fabrication and magneto-mechanical characterization owing to their multi-phase nature, miniature length scales, and nonlinear material behavior. Although noteworthy attempts have been made to understand their coupled nature, the rudimentary concepts of inter-phase interactions that give rise to their mechanical nonlinearity remain insufficiently understood, and this impedes their further advancements. This holistic review addresses these standalone concepts and bridges the gaps by providing a thorough examination of their myriad fabrication techniques, applications, and experimental, and modeling approaches. Specifically, the review presents a wide spectrum of fabrication techniques, ranging from traditional molding to cutting-edge four-dimensional (4D) printing, and their unbounded prospects in diverse fields of research. The review covers various modeling approaches, including continuum mechanical frameworks encompassing phenomenological and homogenization models, as well as microstructural models. Additionally, it addresses emerging techniques like machine learning-based modeling in the context of hMSMs. Finally, the expansive landscape of these promising material systems is provided for a better understanding and prospective research.

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Section: Reinforcement Learning Modelsmentioning

confidence: 99%

Hard magnetics and soft materials—a synergy

Narayanan,

Pramanik,

Arockiarajan

2024

Smart Mater. Struct.

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“…The requirement for the output forces of soft robots by industrial applications is greater, and the actuators to meet the requirement are fluid and electric, and the shape is also mainly based on robotic carriers and robotic hands [175]. For instance, a quadruped soft robot, which uses deep reinforcement learning to train the walking gait of the robot, was designed as a transportation tool in the industry [176]. Another example is a flexible soft robotic gripper, which establishes an extreme learning machine by identifying and grasping shapes [177].…”

Section: Industry and Productionmentioning

confidence: 99%

Actuation Mechanisms and Applications for Soft Robots: A Comprehensive Review

Liu

2023

Applied Sciences

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Soft robots, which exhibit distinguishing features in terms of compliance, adaptability, and safety, have been expansively adopted in various niche applications. For soft robots, innovative actuators have been designed based on smart materials enabling the robots to perform flexible and versatile functions, whereas extra spaces and accessories to accommodate motors and power devices have been eliminated to achieve structural optimisation. Herein, different types of actuation mechanisms for soft robots are summarised to reflect the state-of-the-art research and applications. Major characteristics of the actuation mechanisms are updated. Design methodologies of the actuation mechanisms are discussed in detail. Furthermore, their advantages, disadvantages, and application potential are compared and summarised. In the end, based on our knowledge and understanding, new thoughts and recommendations to further develop the actuation mechanisms are put forward. This review is useful to support the conclusion that, through incorporating actuation mechanisms and advanced intelligent technologies, soft robots tend to create disruptive innovations in applications.

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“…Although there are many kinds of leg structures in legged animals, there exist the same phenomenon of swing leg retraction (SLR) in their locomotion. Therefore, bio‐inspired mechanical design lays the foundation for the hardware of legged robots, and then an optimized bionic gait should also be addressed to improve their locomotion performance (Ji et al, 2022). Yao et al proposed studied a portable off‐road crawling hexapod robot with a flat structure of Schatz linkage so that it could be stacked flatly with a compact size, which is good for storage and transportation.…”

Section: Introductionmentioning

confidence: 99%

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Chen

Wei

et al. 2023

Journal of Field Robotics

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To improve the locomotion performance of legged robots, the swing leg retraction (SLR) technique is investigated in a hydraulic biped robot. First, the influence of SLR on the locomotion performance of the hydraulic biped robot is analyzed in theory and simulations based on an extended spring load inverted pendulum model. The influence contains three performance indicators: energy loss/effiency, friction/ slipping, and impact/compliance. Second, by synthesizing three performance indicators, using unified objective method and particle swarm optimization algorithm, the optimal SLR rate for gait planning based on Bezier curve is addressed.Finally, experiments are implemented to validate the effectiveness and feasibility of proposed method. And, the results show that the SLR technique is useful to reduce the impact force, improve the robot's locomotion stability and make room for impedance performance improvement of compliance controller. This research provides an insight for locomotion control of hydraulic legged robots.

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Synthesizing the optimal gait of a quadruped robot with soft actuators using deep reinforcement learning

Cited by 23 publications

References 19 publications

Hard magnetics and soft materials—a synergy

Hard magnetics and soft materials—a synergy

Actuation Mechanisms and Applications for Soft Robots: A Comprehensive Review

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

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