TAMOLS: Terrain-Aware Motion Optimization for Legged Systems

Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This article presents the complete control pipeline capable of handling the aforementioned problems in real-time. We formulate a trajectory o...

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Veröffentlicht in:	IEEE transactions on robotics Jg. 38; H. 6; S. 3395 - 3413
Hauptverfasser:	Jenelten, Fabian, Grandia, Ruben, Farshidian, Farbod, Hutter, Marco
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.12.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Computational modeling Contact force Dynamics Friction Legged locomotion Legged robots Motion control Numerical stability optimization and optimal control perceptive locomotion Robot control Stability criteria Terrain Trajectory optimization
ISSN:	1552-3098, 1941-0468
Online-Zugang:	Volltext
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