Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that enables flexibly-parametrized trajectories for perceptive a...
| Autori principali: | , , , , , |
|---|---|
| Natura: | Conference item |
| Lingua: | English |
| Pubblicazione: |
IEEE
2021
|