Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a longer time horizon may be necessary when navigating complex...
| Main Authors: | , , , , |
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| Format: | Conference item |
| Language: | English |
| Published: |
IEEE
2020
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