IEEE - Institute of Electrical and Electronics Engineers, Inc. - Search-based planning for a legged robot over rough terrain

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Vernaza, P. ; Likhachev, M. ; Bhattacharya, S. ; Chitta, S. ; Kushleyev, A. ; Lee, D.D.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 2,380 - 2,387
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152769
Regular:

We present a search-based planning approach for controlling a quadrupedal robot over rough terrain. Given a start and goal position, we consider the problem of generating a complete joint... View More

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