The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion
| Main Authors: | Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini |
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| Format: | Proceeding Journal |
| Terbitan: |
, 2020
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| Subjects: | |
| Online Access: |
https://youtu.be/No-_55nO0gk
https://www.youtube.com/watch?v=fNSGEw-1tl4 |
Daftar Isi:
- Synthesizing kinematically feasible trajectories for legged robots becomes more and more challenging with the increase in the complexity of the obstacles to be traversed. In this abstract we propose an algorithm for the efficient assessment of the kinematic feasibility of center of mass trajectories for legged robots. This allows us to evaluate and optimize motion plans for quadruped robots over unstructured terrains online in a receding-horizon fashion