Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and derivatives-free search to plan both foothold locations and horizontal moti...
| Main Authors: | , , , , |
|---|---|
| Format: | Journal article |
| Language: | English |
| Published: |
IEEE
2020
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