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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Vydané v:	IEEE transactions on robotics Ročník 39; číslo 2; s. 1 - 20
Hlavní autori:	Fahmi, Shamel, Barasuol, Victor, Esteban, Domingo, Villarreal, Octavio, Semini, Claudio
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York IEEE 01.04.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	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
On-line prístup:	Získať plný text
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