ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots

This article focuses on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds. If these footholds are not reached, the robot...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 39; no. 2; pp. 1 - 20
Main Authors:	Fahmi, Shamel, Barasuol, Victor, Esteban, Domingo, Villarreal, Octavio, Semini, Claudio
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.04.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptation Algorithms Foot Forward error correction Legged locomotion Legged robots Locomotion Optimization optimization and optimal control Planning Robot dynamics Robots Strategy Terrain Trajectory visual learning whole-body motion planning and control
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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