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Optimization for non-periodic dynamic motions of legged systems

Abstract:

Autonomous legged robots will be required to handle a wide variety of tasks and environments. While a lot of research has focused on developing their abilities for periodic locomotion tasks, little effort has been invested in devising generalized strategies for dynamic, non-periodic movements. In this work we employ the use of optimization and learning to overcome the use of motion design approaches, frequently by teleoperation, in such scenarios. We employ a realistic simulation of the HyQ2M...

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Publication status:
Published
Peer review status:
Peer reviewed

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0002-4371-4623
Italian Institute of Technology More from this funder
Publisher:
International Workshop on Human Friendly Robotics Publisher's website
Journal:
International Workshop on Human Friendly Robotics (HFR). Journal website
Host title:
9th International Workshop on Human Friendly Robotics (HFR 2016)
Publication date:
2016-09-01
Acceptance date:
2016-08-10
Source identifiers:
822414
Keywords:
Pubs id:
pubs:822414
UUID:
uuid:03f6c077-968a-45f6-ab47-f5050e44b597
Local pid:
pubs:822414
Deposit date:
2018-02-02

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