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arXiv · 2507.06562

KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing

Keita Yoneda·Kento Kawaharazuka·Temma Suzuki·Takahiro Hattori·Kei Okada
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Abstract

In recent years, advancements in hardware have enabled quadruped robots to operate with high power and speed, while robust locomotion control using reinforcement learning (RL) has also been realized. As a result, expectations are rising for the automation of tasks such as material transport and exploration in unknown environments. However, autonomous locomotion in rough terrains with significant height variations requires vertical movement, and robots capable of performing such movements stably, along with their control methods, have not yet been fully established. In this study, we developed the quadruped robot KLEIYN, which features a waist joint, and aimed to expand quadruped locomotion by enabling chimney climbing through RL. To facilitate the learning of vertical motion, we introduced Contact-Guided Curriculum Learning (CGCL). As a result, KLEIYN successfully climbed walls ranging from 800 mm to 1000 mm in width at an average speed of 150 mm/s, 50 times faster than conventional robots. Furthermore, we demonstrated that the introduction of a waist joint improves climbing performance, particularly enhancing tracking ability on narrow walls.

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Keita Yoneda, Kento Kawaharazuka, Temma Suzuki, Takahiro Hattori, Kei Okada. 2025-07-09. KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing. https://arxiv.org/abs/2507.06562

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