Motion Planning for Agile Legged Locomotion using Failure Margin Constraints.

Kevin Green John Warila Ross L. Hatton Jonathan W. Hurst

Published in: IROS (2022)

Keyphrases

motion planning
humanoid robot
legged locomotion
rough terrain
degrees of freedom
path planning
trajectory planning
mobile robot
robot arm
robotic tasks
multi robot
human robot interaction
inverse kinematics
multi modal
control law
maximum margin
configuration space
robotic arm
spatio temporal