Adaptive strategy for online gait learning evaluated on the polymorphic robotic LocoKit

This paper presents experiments with a morphology-independent, life-long strategy for online learning of locomotion gaits, performed on a quadruped robot constructed from the LocoKit modular robot. The learning strategy applies a stochastic optimization algorithm to optimize eight open parameters of a central pattern generator based gait implementation. We observe that the strategy converges in roughly ten minutes to gaits of similar or higher velocity than a manually designed gait and that the strategy readapts in the event of failed actuators. In future work we plan to study co-learning of morphological and control parameters directly on the physical robot.