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...

Full description

Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 38; no. 6; pp. 3395 - 3413
Main Authors:	Jenelten, Fabian, Grandia, Ruben, Farshidian, Farbod, Hutter, Marco
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!