26 search results - page 1 / 6 » Search-based planning for a legged robot over rough terrain |
ICRA
2009
IEEE
14 years 5 months ago
2009
IEEE
IROS
2009
IEEE
14 years 5 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...
ICRA
2008
IEEE
14 years 5 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...
ICRA
2009
IEEE
14 years 5 months ago
2009
IEEE
— 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...
IJRR
2011
13 years 5 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...