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Integrable Whole-Body Orientation Coordinates for Legged Robots

  • Published:2023-10-01 Issue: Volume: Page:
  • ISSN:
  • Container-title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • language:
  • Short-container-title:

Author:

Chen Yu-Ming1,Nelson Gabriel2,Griffin Robert3,Posa Michael1,Pratt Jerry4

Affiliation:

1. University of Pennsylvania,General Robotics, Automation, Sensing and Perception (GRASP) Laboratory,Philadelphia,PA,USA,19104

2. Boston Dynamics Artificial Intelligence Institute,Cambridge,MA,02142

3. Florida Institute for Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502

4. Boardwalk Robotics,Pensacola,FL,32502

Funder

DAC

ONR

Toyota Research Institute

Publisher

IEEE

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

2. Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

3. Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion;IEEE Transactions on Robotics;2024

4. Centroidal State Estimation and Control for Hardware-Constrained Humanoid Robots;2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids);2023-12-12
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