IEEE - Institute of Electrical and Electronics Engineers, Inc. - Trajectory Optimization for Legged Robots With Slipping Motions

Author(s): Jan Carius ; Rene Ranftl ; Vladlen Koltun ; Marco Hutter
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 3,013 - 3,020
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2923967
Regular:

The dynamics of legged systems are characterized by under-actuation, instability, and contact state switching. We present a trajectory optimization method for generating physically consistent... View More

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