Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner.
Mathieu GeisertThomas YatesAsil OrgenPierre FernbachIoannis HavoutisPublished in: CoRR (2019)
Keyphrases
- ai planning
- planning process
- quadruped robot
- heuristic search
- planning systems
- planning domains
- classical planning
- plan execution
- domain independent
- derived predicates
- state space
- domain independent planning
- planning problems
- planning graph
- plan quality
- partial plans
- closed loop
- action selection
- evolutionary algorithm
- dynamic environments
- vision system
- rough terrain
- durative actions
- control system