Perceptive Locomotion in Rough Terrain – Online Foothold Optimization

Fabian Jenelten
Fabian Jenelten
Aravind E Vijayan
Aravind E Vijayan
Marko Bjelonic
Marko Bjelonic

IEEE Robotics and Automation Letters, pp. 5370-5376, 2020.

Cited by: 3|Views16
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Abstract:

Compared to wheeled vehicles, legged systems have a vast potential to traverse challenging terrain. To exploit the full potential, it is crucial to tightly integrate terrain perception for foothold planning. We present a hierarchical locomotion planner together with a foothold optimizer that finds locally optimal footholds within an eleva...More

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