Motion Planning for Bounding on Rough Terrain with the LittleDog Robot

Abstract

In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot that has 12 actuators, and a 36-dimensional state space; the task of bounding involves differential contstraints due to underactuation and motor limits, which makes motion planning… (More)

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