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Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion

Abstract:

We present a trajectory optimization framework for legged locomotion on rough terrain. We jointly optimize the center of mass motion and the foothold locations, while considering terrain conditions. We use a terrain costmap to quantify the desirability of a foothold location. We increase the gait's adaptability to the terrain by optimizing the step phase duration and modulating the trunk attitude, resulting in motions with guaranteed stability. We show that the combination of parametric model...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted manuscript

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Publisher copy:
10.1109/ICRA.2017.7989131

Authors


Mastalli, C More by this author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
ORCID:
0000-0002-4371-4623
Radulescu, A More by this author
Calinon, S More by this author
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Publisher:
Institute for Electrical and Electronics Engineers Publisher's website
Publication date:
2017-07-05
Acceptance date:
2017-01-15
DOI:
ISSN:
1050-4729
Pubs id:
pubs:726063
URN:
uri:2f2e7e22-b20b-4f24-b8e9-be537ab551fb
UUID:
uuid:2f2e7e22-b20b-4f24-b8e9-be537ab551fb
Local pid:
pubs:726063
ISBN:
9781509046331

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