Journal article
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...
Expand abstract
- Publication status:
- Published
- Peer review status:
- Peer reviewed
Actions
Access Document
- Files:
-
-
(Accepted manuscript, 3.8MB)
-
- Publisher copy:
- 10.1109/TRO.2020.3003464
Why is the content I wish to access not available via ORA?
Bibliographic data (the information relating to research outputs) and full-text items (e.g. articles, theses, reports, etc.) arrive in ORA from several different sources. Unfortunately we are not able to make available the full-text for every research output.
Please contact the ORA team (
) if you have queries regarding unavailable content OR if you are aware of a full-text copy we can make available.
) if you have queries regarding unavailable content OR if you are aware of a full-text copy we can make available.
Content may be unavailable for the following four reasons
-
Version unsuitable
-
We have not obtained a suitable full-text for a given research output. See this page for more information.
-
Recently completed
-
Sometimes content is held in ORA but is unavailable for a fixed period of time to comply with the policies and wishes of rights holders.
-
Permissions
-
All content made available in ORA should comply with relevant rights, such as copyright. See this page for more information.
-
Clearance
-
Some thesis volumes scanned as part of the digitisation scheme funded by Dr Leonard Polonsky are currently unavailable due to sensitive material or uncleared third-party copyright content. We are attempting to contact authors whose theses are affected.
Alternative access to the full-text
You may be able to access the full-text directly from the publisher's website using the 'Publisher Copy' link in the 'Links & Downloads' box from a research output's ORA record page. This method may require an institutional or individual subscription to the journal/resource.
Authors
Bibliographic Details
- 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
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1126674
- Local pid:
- pubs:1126674
- Deposit date:
- 2020-08-26
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2020
- Rights statement:
- © 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
- Notes:
- This is the accepted manuscript version of the article. The final version is available online from IEEE at: https://doi.org/10.1109/TRO.2020.3003464
If you are the owner of this record, you can report an update to it here: Report update to this record