Optimization and learning for rough terrain legged locomotion
نویسندگان
چکیده
منابع مشابه
Optimization and learning for rough terrain legged locomotion
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and “certificates” that ensure the outp...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2011
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364910392608