Conference item icon

Conference item

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems

Abstract:

Autonomous legged robots will be required to handle a wide range of tasks in complex environments. While a lot of research has focused on developing their abilities for periodic locomotion tasks, less effort has been invested in devising generalized strategies for dynamic, non-periodic movements. Motion design approaches are frequently enlisted in the form of teleoperation or predefined heuristics in such scenarios. We employ a realistic simulation of the hydraulically actuated HyQ2Max quadru...

Expand abstract
Publication status:
Published
Peer review status:
Peer reviewed

Actions


Access Document


Files:
Publisher copy:
10.1109/ICRA.2017.7989623

Authors


More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0002-4371-4623
Publisher:
IEEE
Host title:
2017 IEEE International Conference on Robotics and Automation (ICRA)
Journal:
2017 IEEE International Conference on Robotics and Automation (ICRA) More from this journal
Pages:
5302-5307
Publication date:
2017-07-24
Acceptance date:
2017-01-15
DOI:
ISSN:
1050-4729
ISBN:
9781509046331
Keywords:
Pubs id:
pubs:726062
UUID:
uuid:1e22153d-ded0-4228-8753-6a02b9f2bb79
Local pid:
pubs:726062
Source identifiers:
726062
Deposit date:
2017-12-19

Terms of use


Views and Downloads






If you are the owner of this record, you can report an update to it here: Report update to this record

TO TOP