Fast Biped Walking with a Sensor-driven Neuronal Controller and Real-time Online Learning

In this paper, we present our design and experiments on a planar biped robot under the control of a pure sensor-driven controller. This design has some special mechanical features, for example small curved feet allowing rolling action and a properly positioned center of mass, that facilitate fast walking through exploitation of the robot’s natural dynamics. Our sensor-driven controller is built with biologically inspired sensorand motor-neuron models, and does not employ any kind of position or trajectory tracking control algorithm. Instead, it allows our biped robot to exploit its own natural dynamics during critical stages of its walking gait cycle. Due to the interaction between the sensor-driven neuronal controller and the properly designed mechanics of the robot, the biped robot can realize stable dynamic walking gaits in a large domain of the neuronal parameters. In addition, this structure allows the use of a policy gradient reinforcement learning algorithm to tune the parameters of the sensor-driven controller in real-time, during walking. This way RunBot can reach a relative speed of 3.5 leg lengths per second after only a few minutes of online learning, which is faster than that of any other biped robot, and is also comparable to the fastest relative speed of human walking. KEY WORDS—dynamic biped, reflex, neuronal controller, online learning, fast walking The International Journal of Robotics Research Vol. 25, No. 3, March 2006, pp. 243-259 DOI: 10.1177/0278364906063822 ©2006 Sage Publications