Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner.
Mathieu GeisertThomas YatesAsil OrgenPierre FernbachIoannis HavoutisPublished in: TAROS (1) (2019)
Keyphrases
- ai planning
- heuristic search
- quadruped robot
- planning process
- planning domains
- planning systems
- domain independent
- classical planning
- planning problems
- plan execution
- state space
- derived predicates
- domain independent planning
- partial plans
- plan quality
- motion planning
- multi modal
- evolutionary algorithm
- dynamic environments
- rough terrain