The 100-pound (45 kilograms) robot, called KAIST HOUND, uses cameras and lidar to scan the ground ahead, then selects an appropriate gait and adjusts its movements in real time. In outdoor tests, it crossed a 0.7-mile (1.1- kilometers) university campus route and a 0.2-mile (0.3 km) forest trail strewn with roots, logs and slippery leaves.
Changing gait
Animals naturally change their gait depending on their speed and surroundings. A dog might trot carefully across uneven ground, for example, before bounding over a fallen branch. Reproducing this adaptability in robots is tricky because different movements are often controlled by separate, highly specialized coding systems, and transitions between them can cause a lag that drives the robot to stumble.
The training began with a simple, two-dimensional computer model of the robot. Using trajectory optimization — a technique that calculates physically workable movements for the robot — the team generated 180,000 short trotting and bounding sequences, including the joint forces the robot's legs need to perform. The dataset represented about 15.5 hours of movement but took only around eight minutes to produce.
In digital simulations, the robot dog was not limited to copying its prerecorded movements. It could also make corrections for three-dimensional terrain and unexpected situations, such as jumping over a log — a behavior that wasn't included in the original, flat-ground training data.
The KAIST HOUND quadrupedal robot navigates a forested terrain (Image credit: Jun-Gill Kang, Jaehyun Park)Related storiesFinally, the researchers configured the system to include the robot's depth camera and lidar scanner in the simulation.
The researchers suggest the technology could eventually help robots navigate disaster zones or other places inaccessible for wheeled machines. However, the current framework only allows two gait choices and mainly handles forward movement. Rapid turning, sideways motion and other behaviors like crawling remain future goals for the research team.
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