Conference item
Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations
- Abstract:
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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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- Files:
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(Accepted manuscript, 4.4MB)
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- Publisher copy:
- 10.1109/icra40945.2020.9196562
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Authors
Bibliographic Details
- 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:
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2577-087X
- ISSN:
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1050-4729
Item Description
- Language:
- English
- Keywords:
- Pubs id:
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1138278
- Local pid:
- pubs:1138278
- Deposit date:
- 2020-10-19
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2020
- Rights statement:
- © Copyright 2020 IEEE
- Notes:
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This is the accepted manuscript version of the article. The final version is available from IEEE at https://doi.org/10.1109/ICRA40945.2020.9196562
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