A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot.
Halil Utku UnluVinicius Mariano GonçalvesDimitris ChaikalisAnthony TzesFarshad KhorramiPublished in: ICRA (2024)
Keyphrases
- motion planning
- quadruped robot
- rough terrain
- robotic arm
- mechanical systems
- degrees of freedom
- humanoid robot
- trajectory planning
- path planning
- mobile robot
- robot arm
- multi robot
- end effector
- legged robots
- configuration space
- visual servoing
- control law
- control system
- climbing robot
- real time
- inverse kinematics
- robot control
- control strategy
- input output
- multi modal
- viewpoint