— In this video, we demonstrate the effectiveness of a kinodynamic planning strategy that allows a high-impedance quadruped to operate across a variety of rough terrain. At one e...
— Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that...
— Legged robots require accurate models of their environment in order to plan and execute paths. We present a probabilistic technique based on Gaussian processes that allows terr...
Christian Plagemann, Sebastian Mischke, Sam Prenti...
We present a new terrain classification technique both for effective, autonomous locomotion over rough, unknown terrains and for the qualitative analysis of terrains for exploratio...
Amy C. Larson, Guleser K. Demir, Richard M. Voyles
Abstract— We propose a fast approach for detecting collisionfree swing-foot trajectories for legged locomotion over extreme terrains. Instead of simulating the swing trajectories...
Finale Doshi, Emma Brunskill, Alexander C. Shkolni...