Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments
Author:
Affiliation:
1. LAAS-CNRS, Université de Toulouse, CNRS,Toulouse,France
2. School of Informatics, University of Edinburgh,UK
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9981026/9981028/09981539.pdf?arnumber=9981539
Reference29 articles.
1. Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics
2. Footstep Planning on Uneven Terrain with Mixed-Integer Convex Optimization
3. SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
4. Footstep Planning for Autonomous Walking Over Rough Terrain
5. C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios
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1. Foot-End Obstacle Avoidance Trajectory Planning for Quadruped Robots;Proceedings of the 2024 3rd International Symposium on Control Engineering and Robotics;2024-05-24
2. Reference-Free Model Predictive Control for Quadrupedal Locomotion;IEEE Access;2024
3. SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors;2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids);2023-12-12
4. Bipedal Walking on Constrained Footholds with MPC Footstep Control;2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids);2023-12-12
5. Inverse-Dynamics MPC via Nullspace Resolution;IEEE Transactions on Robotics;2023-08
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