KLEIYN机器人靠可动腰关节实现高速爬墙，比传统机器人快50倍。
KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing
- 通过主动腰关节设计，结合接触引导课程学习提升垂直运动能力。
- 实测在800-1000mm宽墙体上以150mm/s速度完成爬行，效率提升50倍。
- 适合研究足式机器人攀爬控制、具身智能与复杂地形适应的团队。
近年来，硬件进步使四足机器人具备高功率与高速运行能力，基于强化学习（RL）的鲁棒运动控制也已实现。因此，人们期望其在未知环境中自动完成物资运输与探索任务。然而，在具有显著高度变化的崎岖地形中实现自主运动需具备垂直移动能力，而能稳定执行此类动作的机器人及其控制方法尚未成熟。本研究开发了配备腰关节的四足机器人KLEIYN，旨在通过强化学习实现烟囱式爬墙。为促进垂直运动的学习，提出接触引导课程学习（CGCL）。实验表明，KLEIYN可在800–1000 mm宽墙体上以平均150 mm/s的速度完成爬行，相较传统机器人提速50倍。此外，腰关节显著提升了窄墙追踪性能。
原文摘要 · Abstract (English)
In recent years, advancements in hardware have enabled quadruped robots to operate with high power and speed, while robust locomotion control using reinforcement learning (RL) has also been realized. As a result, expectations are rising for the automation of tasks such as material transport and exploration in unknown environments. However, autonomous locomotion in rough terrains with significant height variations requires vertical movement, and robots capable of performing such movements stably, along with their control methods, have not yet been fully established. In this study, we developed the quadruped robot KLEIYN, which features a waist joint, and aimed to expand quadruped locomotion by enabling chimney climbing through RL. To facilitate the learning of vertical motion, we introduced Contact-Guided Curriculum Learning (CGCL). As a result, KLEIYN successfully climbed walls ranging from 800 mm to 1000 mm in width at an average speed of 150 mm/s, 50 times faster than conventional robots. Furthermore, we demonstrated that the introduction of a waist joint improves climbing performance, particularly enhancing tracking ability on narrow walls.
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