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Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control

Abstract:

Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and derivatives-free search to plan both foothold locations and horizontal motions due to the local minima produced by the terrain model. It jointly optimizes body motion, step duration and foothold selection, and it models the terrain as a cost-map. Due to the novel attitude...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/TRO.2020.3003464

Authors


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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0002-4371-4623
Publisher:
IEEE Publisher's website
Journal:
IEEE Transactions on Robotics Journal website
Volume:
36
Issue:
6
Pages:
1635-1648
Publication date:
2020-07-03
Acceptance date:
2020-06-08
DOI:
EISSN:
1941-0468
ISSN:
1552-3098
Language:
English
Keywords:
Pubs id:
1126674
Local pid:
pubs:1126674
Deposit date:
2020-08-26

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