Conference item
Multi-controller multi-objective locomotion planning for legged robots
- Abstract:
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Different legged robot locomotion controllers have different advantages and disadvantages, from speed of motion to energy, computational speed, safety and others. In this paper we propose a method for planning locomotion with multiple controllers and sub-planners, explicitly considering the multiobjective nature of the problem. We propose a parameter-free method that plans in the space of body motion and controller choice, using utopian and lexicographic cost aggregation functions. We empiric...
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- Publication status:
- Accepted
- Peer review status:
- Peer reviewed
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- Files:
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(Accepted manuscript, pdf, 5.1MB)
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- Publisher copy:
- 10.1109/IROS40897.2019.8967926
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Authors
Funding
Bibliographic Details
- Publisher:
- IEEE Publisher's website
- Host title:
- IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 (IROS 2019)
- Publication date:
- 2020-01-27
- Acceptance date:
- 2019-02-20
- Event title:
- IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 (IROS 2019)
- Event location:
- Macau, China
- Event website:
- https://www.iros2019.org
- Event start date:
- 2018-11-03T00:00:00Z
- Event end date:
- 2018-11-08T00:00:00Z
- DOI:
- EISBN:
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9781728140049
- EISSN:
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2153-0866
- ISSN:
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2153-0858
- Source identifiers:
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1026186
- ISBN:
- 9781728140056
Item Description
- Language:
- English
- Pubs id:
-
pubs:1026186
- UUID:
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uuid:0a5d5c49-6f4e-470a-9a74-e00e358c8308
- Local pid:
- pubs:1026186
- Deposit date:
- 2019-07-03
Terms of use
- Copyright date:
- 2020
- Rights statement:
- This is an author version of the article. The final version is available online from IEEE at: https://doi.org/10.1109/IROS40897.2019.8967926
- Notes:
- This paper was presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 (IROS 2019), Macau, China, November 2019.
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