Previous research identified energy efficiency and injury avoidance as reasons for gait transitions, but EPFL study suggests viability (fall avoidance) is crucial, especially in challenging terrains.
DRL training found that the robot transitioned from walk to trot for viability on flat ground and shifted to pronking to avoid falls on gapped terrain, implying different gait robustness.
Viability, rather than energy efficiency, emerged as the key factor driving gait transitions in the robot experiments, challenging previous beliefs on the primary reasons behind such transitions.
The findings suggest that gait transitions occur not solely for energy efficiency reasons but are primarily linked to fall avoidance (viability), providing new perspectives on animal-inspired robotic locomotion.
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