mlsanityData to 14 Oct 2026

Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning

arXiv 2406.07069 ↗First posted 11 Jun 2024cs.RO cs.SY eess.SYcited by 0

On the map: Deep reinforcement learning methods → RL for robot locomotion and manipulation

Abstract (arXiv)

This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for gait control, we employ model-based reinforcement learning (MBRL) to further enhance the performance of the gait controller. Compared to rigid robots, the proposed soft quadruped robot has better safety, less weight, and a simpler mechanism for fabrication and control. However, the primary challenge lies in developing sophisticated control algorithms to attain optimal gait control for fast and stable locomotion. The research employs a multi-stage methodology, including state space restriction, data-driven model training, and reinforcement learning algorithm development. Compared to benchmark methods, the proposed MBRL algorithm, combined with post-training, significantly improves the efficiency and performance of gait control policies. The developed policy is both robust and adaptable to the robot's deformable morphology. The study concludes by highlighting the practical applicability of these findings in real-world scenarios.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in RL for robot locomotion and manipulation, one of 15 directions in Deep reinforcement learning methods. Builds on 23 of its 55 references that are in the map. First posted on arXiv 11 Jun 2024.

Builds on

23 of 55 references.

References · 23

  1. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,885
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  6. 2021How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learnedcited by 213
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  8. 2020RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Controlcited by 59
  9. 2019DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learningcited by 50
  10. 2020Continual Model-Based Reinforcement Learning with Hypernetworkscited by 44
  11. 2021A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulationcited by 38
  12. 2023On the Importance of Exploration for Generalization in Reinforcement Learningcited by 31
11 more
  1. 2022Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controllercited by 29
  2. 2022Safe Model-Based Reinforcement Learning with an Uncertainty-Aware Reachability Certificatecited by 18
  3. 2021Meta-Reinforcement Learning in Broad and Non-Parametric Environmentscited by 10
  4. 2016Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupedscited by 8
  5. 2020Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamicscited by 8
  6. 2021MetaVIM: Meta Variationally Intrinsic Motivated Reinforcement Learning for Decentralized Traffic Signal Controlcited by 8
  7. 2021Deformable Elasto-Plastic Object Shaping using an Elastic Hand and Model-Based Reinforcement Learningcited by 7
  8. 2016Convolutional Neural Networks For Automatic State-Time Feature Extraction in Reinforcement Learning Applied to Residential Load Controlcited by 6
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  10. 2022Variational Meta Reinforcement Learning for Social Roboticscited by 3
  11. 2020A Legged Soft Robot Platform for Dynamic Locomotioncited by 1

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  1. 2024Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives
  2. 2025Real-Time Gait Adaptation for Quadrupeds using Model Predictive Control and Reinforcement Learning
  3. 2025Quadruped Robot Simulation Using Deep Reinforcement Learning -- A step towards locomotion policy
  4. 2025Learning More With Less: Sample Efficient Model-Based RL for Loco-Manipulation
  5. 2023A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learning
  6. 2024Learning-based Control for Tendon-Driven Continuum Robotic Arms
  7. 2025Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
  8. 2025Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion