Transition method of locomotion gait of robot

Abstract

A transition method of locomotion gait of a robot includes: executing a deployment procedure multiple times, each execution includes: randomly selecting a source policy and a destination policy, simulating a transition operation from the source policy to the destination policy, and recording a transition configuration and a transition result to a transition database, where each policy is a neural network model, and a latent state in the transition configuration is a hidden layer of the neural network model of the source policy. The method further includes: training a transition-net according to the transition database, and performing the following steps by a meta-controller disposed on the robot: selecting two gait policies as an active policy and a queued policy, executing the active policy, inputting the two policies to the transition-net to obtain a success probability, and when the success probability is greater than a threshold, executing the queued policy.