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