给四足机器人加了个能扭的腰，让它转弯更灵活。
A Robust Quadruped Robot with Twisting Waist for Flexible Motions
- 在开源机器人 solo8 上加了可旋转腰关节，多一个自由度。
- 用生成对抗模仿学习训练，让机器人能自适应不同步态和地形。
- 实测证明转弯更灵巧，比 solo8、solo12 更稳定可靠。
腰部在自然界许多动物的敏捷运动中起关键作用，为躯干提供额外自由度与灵活性。本文将这一生物特征引入机器人结构，在开源机器人 solo8 上集成低成本、低复杂度的腰部机构，新增一个自由度，形成新型机器人 solo9。针对该机器人提出基于生成对抗模仿学习（GAIL）的全身控制方法，通过判别器反馈迭代优化策略与数据集，使 solo9 能在多种步态下实现灵活转向。在仿真与真实场景中对 solo9 的转向能力、地形适应性与鲁棒性进行了大量测试，与 solo8 及 solo12 进行对比，验证了所提控制算法的有效性及腰部结构的优势。
原文摘要 · Abstract (English)
The waist plays a crucial role in the agile movement of many animals in nature. It provides the torso with additional degrees of freedom and flexibility, inspiring researchers to incorporate this biological feature into robotic structures to enhance robot locomotion. This paper presents a cost-effective and low-complexity waist mechanism integrated into the structure of the open-source robot solo8, adding a new degree of freedom (DOF) to its torso. We refer to this novel robot as solo9. Additionally, we propose a full-body control method for the waist-equipped quadruped robot based on generative adversarial imitation learning (GAIL). During training, the discriminator is used as input for iterative optimization of the policy and dataset, enabling solo9 to achieve flexible steering maneuvers across various gaits. Extensive tests of solo9's steering capabilities, terrain adaptability, and robustness are conducted in both simulation and real-world scenarios, with detailed comparisons to solo8 and solo12, demonstrating the effectiveness of the control algorithm and the advantages of the waist mechanism.
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