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Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations

Abstract:

Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a longer time horizon may be necessary when navigating complex terrain. A recently-developed framework, Trajectory Optimization for Walking Robots (TOWR), computes such plans but does not guarantee their reliability on real platforms, under uncertainty and per...

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Publication status:
Published
Peer review status:
Reviewed (other)

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Publisher copy:
10.1109/icra40945.2020.9196562

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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:
2020 IEEE International Conference on Robotics and Automation (ICRA) Journal website
Pages:
1410-1416
Host title:
2020 IEEE International Conference on Robotics and Automation (ICRA)
Publication date:
2020-09-15
Acceptance date:
2020-05-01
Event title:
2020 IEEE International Conference on Robotics and Automation (ICRA)
Event location:
Paris, France
Event start date:
2020-05-31T00:00:00Z
Event end date:
2020-08-31T00:00:00Z
DOI:
EISSN:
2577-087X
ISSN:
1050-4729
Language:
English
Keywords:
Pubs id:
1138278
Local pid:
pubs:1138278
Deposit date:
2020-10-19

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