Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots.

James Zhu J. Joe Payne Aaron M. Johnson

Published in: ICRA (2024)

Keyphrases

legged robots
trajectory planning
robot manipulators
obstacle avoidance
mobile robot
inverted pendulum
motion planning
path planning
legged locomotion
quadruped robot
control system
control method
dynamic environments
human body
simulation study
control strategy