mlsanityData to 7 Oct 2026

Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller

arXiv 2201.00206 ↗First posted 1 Jan 2022cs.RO cs.AIcited by 23

Not on the map. Why?

Abstract (arXiv)

Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate controllers for legged robots. Learning multiple gaits and transitions, nevertheless, is related to the multi-task learning problems. In this work, we present a novel framework for training a simple control policy for a quadruped robot to locomote in various gaits. Four independent phases are used as the interface between the gait generator and the control policy, which characterizes the movement of four feet. Guided by the phases, the quadruped robot is able to locomote according to the generated gaits, such as walk, trot, pacing and bounding, and to make transitions among those gaits. More general phases can be used to generate complex gaits, such as mixed rhythmic dancing. With the control policy, the Black Panther robot, a medium-dog-sized quadruped robot, can perform all learned motor skills while following the velocity commands smoothly and robustly in natural environment.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). Builds on 15 of its 36 references that are in the map. First posted on arXiv 1 Jan 2022.

Builds on

15 of 36 references.

References · 15

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
  3. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  4. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 277
  5. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 229
  6. 2019MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policiescited by 105
  7. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 95
  8. 2020Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Compositioncited by 71
  9. 2020Multi-expert learning of adaptive legged locomotioncited by 62
  10. 2020RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Controlcited by 46
  11. 2019Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Controlcited by 43
  12. 2019MPC-Net: A First Principles Guided Policy Searchcited by 28
3 more
  1. 2020Learning Memory-Based Control for Human-Scale Bipedal Locomotioncited by 20
  2. 2021Imitation Learning from MPC for Quadrupedal Multi-Gait Controlcited by 16
  3. 2021Collision-Free MPC for Legged Robots in Static and Dynamic Scenescited by 9

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 5; 2023: 8; 2024: 3; 2025: 4; 2026: 3.

23 papers.

Sort:

  1. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 113
  2. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 63
  3. 2022GenLoco: Generalized Locomotion Controllers for Quadrupedal Robotscited by 36
  4. 2023Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotioncited by 33
  5. 2023Robust and Versatile Bipedal Jumping Control through Reinforcement Learningcited by 27
  6. 2022CPG-RL: Learning Central Pattern Generators for Quadruped Locomotioncited by 24
  7. 2022Learning Torque Control for Quadrupedal Locomotioncited by 22
  8. 2023DiffusionPhase: Motion Diffusion in Frequency Domaincited by 16
  9. 2022Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomizationcited by 15
  10. 2023ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robotscited by 15
  11. 2023RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotioncited by 14
  12. 2025Learning Sim-to-Real Humanoid Locomotion in 15 Minutescited by 11
11 more
  1. 2025Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotioncited by 7
  2. 2023Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drivecited by 5
  3. 2023Identifying Important Sensory Feedback for Learning Locomotion Skillscited by 4
  4. 2024Dexterous Legged Locomotion in Confined 3D Spaces with Reinforcement Learningcited by 4
  5. 2023DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skillscited by 2
  6. 2026Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specificationscited by 2
  7. 2024Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedbackcited by 1
  8. 2025Periodic Skill Discoverycited by 1
  9. 2025PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotioncited by 0
  10. 2026ARC-RL: A Reinforcement Learning Playground Inspired by ARC Raiderscited by 0
  11. 2026GaitSpan: Growing Humanoid Locomotion from Walking to Runningcited by 0