Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control.
Carlos MastalliIoannis HavoutisMichele FocchiDarwin G. CaldwellClaudio SeminiPublished in: IEEE Trans. Robotics (2020)
Keyphrases
- motion planning
- legged robots
- rough terrain
- mobile robot
- humanoid robot
- quadruped robot
- legged locomotion
- degrees of freedom
- robotic arm
- path planning
- mechanical systems
- trajectory planning
- real robot
- robot arm
- robotic tasks
- inverted pendulum
- autonomous mobile robot
- configuration space
- obstacle avoidance
- multi robot
- kinematic model
- belief space
- multi modal
- inverse kinematics
- robot control
- control law
- collision avoidance
- motion control
- end effector
- collision free
- manipulation tasks
- robotic systems
- dynamic environments
- three dimensional
- pose estimation
- control system
- spatio temporal