26 search results - page 2 / 6 » Search-based planning for a legged robot over rough terrain |
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— 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 t...
IROS
2009
IEEE
13 years 12 months ago
2009
IEEE
— We address the problem of foothold selection in robotic legged locomotion over very rough terrain. The difficulty of the problem we address here is comparable to that of human...
ICRA
2009
IEEE
13 years 12 months ago
2009
IEEE
— We present a method for controlling the forward speed and the apex height of a one-legged hopping robot over rough terrain, using a single actuator located at the robot hip. Th...
IJRR
2008
13 years 5 months ago
2008
This paper studies the quasi-static motion of large legged robots that have many degrees of freedom. While gaited walking may suffice on easy ground, rough and steep terrain requi...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific contr...