Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
As legged robots are sent into unstructured environments, the ability to robustly manage contact transitions will be a critical skill. This paper introduces an approach to probabilistically fuse contact models, managing uncertainty in terrain geometry, dynamic modeling, and kinematics to improve the...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2019
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| Online Access: | http://hdl.handle.net/1721.1/120350 https://orcid.org/0000-0001-7137-5932 https://orcid.org/0000-0002-0218-6801 |