Planning for Locomotion Mode Switching Based on Energy Optimization with a Wheel-legged Mobile Robot.
Runming CaiYisheng GuanHaifei ZhuWangcheng ChenShixin MaoPublished in: ROBIO (2023)
Keyphrases
- mobile robot
- motion control
- motion planning
- legged locomotion
- legged robots
- rough terrain
- autonomous navigation
- path planning
- navigation tasks
- obstacle avoidance
- robot control
- mobile robot navigation
- mobile robotics
- robotic systems
- autonomous robots
- optimization problems
- indoor environments
- visual servoing
- global optimization
- dynamic environments
- optimization algorithm
- multi robot
- optimization method
- collision free
- office environment
- map building
- blocks world
- energy consumption
- humanoid robot
- inverted pendulum
- robot motion
- outdoor environments
- simultaneous localization and mapping
- image sequences
- energy dissipation
- evolutionary algorithm