Fast Online Trajectory Optimization for the Bipedal Robot Cassie.
Taylor ApgarPatrick ClaryKevin GreenAlan FernJonathan W. HurstPublished in: Robotics: Science and Systems (2018)
Keyphrases
- autonomous robots
- humanoid robot
- trajectory planning
- real time
- online learning
- mobile robot
- optimization process
- optimization algorithm
- path planning
- collision free
- configuration space
- motion planning
- robot control
- optimization problems
- robot navigation
- robot manipulators
- mobile robotics
- human robot interaction
- constrained optimization
- robotic systems
- optimization method
- obstacle avoidance
- vision system
- multi modal
- robot arm
- stochastic gradient
- objective function