Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet mo...

Celý popis

Uložené v:

Podrobná bibliografia
Vydané v:	IEEE robotics and automation letters Ročník 3; číslo 3; s. 1560 - 1567
Hlavní autori:	Winkler, Alexander W., Bellicoso, C. Dario, Hutter, Marco, Buchli, Jonas
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Piscataway IEEE 01.07.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Computer simulation Continuity (mathematics) Dynamics Foot Force Gait humanoid and bipedal locomotion Legged locomotion Legged robots Locomotion Morphology motion and path planning Nonlinear programming optimization and optimal control Parameterization Terrain Trajectory optimization
ISSN:	2377-3766, 2377-3766
On-line prístup:	Získať plný text
Tagy:	Pridať tag Žiadne tagy, Buďte prvý, kto otaguje tento záznam!

Buďte prvý, kto okomentuje tento záznam!