Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain.
Alexander W. WinklerCarlos MastalliIoannis HavoutisMichele FocchiDarwin G. CaldwellClaudio SeminiPublished in: ICRA (2015)
Keyphrases
- quadruped robot
- legged robots
- rough terrain
- legged locomotion
- mobile robot
- plan generation
- plan execution
- dynamic environments
- heuristic search
- planning problems
- three dimensional
- degrees of freedom
- real time
- autonomous navigation
- control system
- simulation model
- motion planning
- pose estimation
- execution model
- query processing
- multiresolution
- reactive planning
- real world