Real-Time Self-Collision Avoidance for Dynamic Legged Robots
Avoiding self-collisions is particularly challenging for legged robots, yet critical for them to avoid falling and damaging themselves. Unlike standard obstacle avoidance where the obstacles in the environment are relatively static, in self-collision avoidance the "obstacles" are the robot...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/150122 |