TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
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DOI: 10.1109/tro.2022.3186804
Abstract: Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This article presents the complete control pipeline capable of handling the aforementioned problems in… read more here.
Keywords: aware motion; motion optimization; optimization legged; tamols terrain ... See more keywords