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: CoRR (2019)
Keyphrases
- quadruped robot
- legged robots
- rough terrain
- plan generation
- legged locomotion
- three dimensional
- dynamic environments
- real world
- motion planning
- plan execution
- mobile robot
- concurrent execution
- degrees of freedom
- planning problems
- simulation model
- robot control
- expert systems
- stochastic domains
- reactive planning
- terrain modeling
- database systems