Decoupled Kinodynamic Planning for a Quadruped Robot over Complex Terrain
High-level planning for hybrid-dynamic, legged systems can be challenging due to a need to simultaneously satisfy kinematic and dynamic constraints. Previously developed sampling-based approaches can rapidly generate plans that satisfy kinematic constraints, but often lead to dynamically infeasible...
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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/1721.1/151851 |