Whole-body motion planning and control of a quadruped robot for challenging terrain.
Guanglin LuTeng ChenXuewen RongGuoteng ZhangJian BiJingxuan CaoHan JiangYibin LiPublished in: J. Field Robotics (2023)
Keyphrases
- quadruped robot
- motion planning
- rough terrain
- humanoid robot
- mobile robot
- trajectory planning
- degrees of freedom
- robot arm
- path planning
- legged robots
- robotic arm
- multi modal
- mechanical systems
- multi robot
- control law
- human robot interaction
- inverse kinematics
- climbing robot
- configuration space
- autonomous navigation
- real time
- collision free
- control strategy
- human motion
- simulation study
- dynamic environments
- control system
- machine learning