6 search results - page 1 / 2 » Robust physics-based locomotion using low-dimensional planni... |
SIGGRAPH
2010
ACM
13 years 9 months ago
2010
ACM
This paper presents a physics-based locomotion controller based on online planning. At each time-step, a planner optimizes locomotion over multiple phases of gait. Stance dynamics...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— We explore the use of computational optimal control techniques for automated construction of policies in complex dynamic environments. Our implementation of dynamic programming...
IJRR
2011
12 years 12 months ago
2011
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to p...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— 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...
IROS
2009
IEEE
13 years 11 months ago
2009
IEEE
— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...