Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
Author:
Affiliation:
1. Manning College of Information and Computer Sciences at University of Massachusetts Amherst Amherst MA,Amherst,MA,USA,01002
Funder
National Science Foundation
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10375141/10374561/10375234.pdf?arnumber=10375234
Reference29 articles.
1. Velocity-Based Stability Margins for Fast Bipedal Walking
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4. Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal
5. Riemannian motion policies;Ratliff,2018
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1. Learning Advanced Locomotion for Quadrupedal Robots: A Distributed Multi-Agent Reinforcement Learning Framework with Riemannian Motion Policies;Robotics;2024-05-28
2. Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13
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