Whole-Body Trajectory Optimization for Robot Multimodal Locomotion.
Giuseppe L'ErarioGabriele NavaGiulio RomualdiFabio BergontiValentino RazzaStefano DafarraDaniele PucciPublished in: CoRR (2022)
Keyphrases
- mobile robot
- humanoid robot
- robot motion
- robotic systems
- rough terrain
- robot control
- legged robots
- optimization algorithm
- configuration space
- human robot interaction
- robot moves
- trajectory planning
- degrees of freedom
- multi modal
- vision system
- optimization problems
- global optimization
- optimization method
- optimization process
- obstacle avoidance
- quadruped robot
- legged locomotion
- multimodal function optimization
- path planning
- evolutionary algorithm
- real time
- central pattern generator
- search and rescue
- human robot
- autonomous navigation
- motion planning
- multi robot
- objective function