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Multi-controller multi-objective locomotion planning for legged robots

Abstract:

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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Publisher copy:
10.1109/IROS40897.2019.8967926

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Institution:
University of Oxford
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0002-4371-4623
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:
9781728140049
EISSN:
2153-0866
ISSN:
2153-0858
Source identifiers:
1026186
ISBN:
9781728140056
Language:
English
Pubs id:
pubs:1026186
UUID:
uuid:0a5d5c49-6f4e-470a-9a74-e00e358c8308
Local pid:
pubs:1026186
Deposit date:
2019-07-03

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