Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable stiffness into the action space alongside joint positions, enabling grouped stiffness control such as per-joint stiffness (PJS), per-leg stiffness (PLS) and hybrid joint-leg stiffness (HJLS). We show that variable stiffness policies, with grouping in per-leg stiffness (PLS), outperform position-based control in velocity tracking and push recovery. In contrast, HJLS excels in energy efficiency. Despite the fact that our policy is trained on flat floor only, our method showcases robust walking behaviour on diverse outdoor terrains, indicating robust sim-to-real transfer. Our approach simplifies design by eliminating per-joint stiffness tuning while keeping competitive results with various metrics.
View on arXiv@article{spoljaric2025_2502.09436,
title={ Variable Stiffness for Robust Locomotion through Reinforcement Learning },
author={ Dario Spoljaric and Yashuai Yan and Dongheui Lee },
journal={arXiv preprint arXiv:2502.09436},
year={ 2025 }
}