Vital: Vision-based terrain-aware locomotion for legged robots
This article focuses on vision-based planning strategies for legged robots that separate
locomotion planning into foothold selection and pose adaptation. Current pose adaptation …
locomotion planning into foothold selection and pose adaptation. Current pose adaptation …
Foothold evaluation criterion for dynamic transition feasibility for quadruped robots
L Clemente, O Villarreal, A Bratta… - … on Robotics and …, 2022 - ieeexplore.ieee.org
To traverse complex scenarios reliably a legged robot needs to move its base aided by the
ground reaction forces, which can only be generated by the legs that are momentarily in …
ground reaction forces, which can only be generated by the legs that are momentarily in …
Anchoring sagittal plane templates in a spatial quadruped
T Greco, DE Koditschek - 2023 IEEE International Conference …, 2023 - ieeexplore.ieee.org
This paper introduces a new controller that stabilizes the motion of a spatial quadruped
around sagittal-plane templates. It enables highly dynamic gaits and transitional maneuvers …
around sagittal-plane templates. It enables highly dynamic gaits and transitional maneuvers …
[引用][C] Towards a Foothold Evaluation Criterion for Dynamic Transition Feasibility
A Bratta, L Clemente, O Villarreal, M Focchi, V Barasuol…