This page describes CMU's participation in the DARPA Learning Locomotion Program. This program involves using a quadruped robot constructed by BDI, Little Dog, to explore learning to be more agile and robust. There are a series of tests our robot must perform. Some videos and information on these tests as they occur are given below.
Under battery power: t4practice.zip
All we had to work with are these photos, so no practice runs.
Same terrain as Test 5. Here are some videos of practice runs at CMU: travelling east and west. Human drivers have found two routes travelling north, but we have not yet got the dog to do either of them autonomously. Here is the dog trying one [video]. We have not yet found a route travelling south [video]..
Here are some papers relevant to our work for Test 6:
Learning From Demonstration (IROS06) and
Trajectory Library (ICRA06).
Martin Stolle's thesis proposal.
Same terrain as Test 5, except now we go East. The big issue this month is ROBUSTNESS. How do we get good performance at CMU to transfer to the test site? One part of the answer is testing with simulated bad conditions.
Here are some videos of practice runs at CMU:
1) Starting on the rocks, wearing slippery booties, and having an off center load strapped to the back of the dog: [MP4 video]. [MP2 video].
2) Varying start board height: test 6 height, test 6 height + 0.5 board width, test 6 height + 1 board width. [video].
3) Our fastest run so far, almost 2cm/sec across the terrain board. [video].
Here are the planned footstep locations for the test (used in the fastest run video above). Movement goes from left to right (towards East), red is the front right foot, magenta is the front left foot, black is the rear left foot, and blue is the rear right foot.
Here are the footstep and body locations at touchdown for the plan, and here is a program to parse that file.
Multiple terrain boards with step, using planning: MP4 or MP2
Handling no-go gaps between boards, using planning: MP4 or MP2
A nice video of learning from demonstration running on Terrain D.
Short version of above: MP4 or MP2
Before and After Learning Video: Comparison of planning performance with human generated terrain cost function and learned cost function on Test 11A terrain: more compressed version or less compressed version
LFD Generalization Video: Comparison of learning with demonstration using terrain coordinates with learning from demonstration using local terrain features and planning to choose which learned steps to use and to fill in gaps. The dog's goal is to get totally on to the 2nd rock board. The dog has not previously experienced the transition between boards. MP4 or MP2
How fast can the dog go?: A speed test we did a while ago under external power (20cm/sec). We will retest using battery power, but our recollection is something like 14cm/sec under battery power. We don't think the dog can go anywhere near this speed over rough terrain, due to joint speed limitations. video